Yep. Back in those days "the rich" were the kings, princes, lords, etc. They formed the national and local goverments, and had the power to levy taxes as well as dispense legal judgements. Robin Hood "stealing" from "the rich" back then would be akin to taking money from the IRS and giving it back to the taxpayers. Except that for all our complaining about taxes we still pay far, far less as a proportion than medievil Britons were subject to.