auto insurance mandatory states

Isn't making health insurance mandatory a form of tax?

President Obama stated,“What it’s saying is that we’re not going to have other people carrying your burdens for you any more than the fact that right now everybody in America, just about, has to get auto insurance. Nobody considers that a tax increase.”
So even if a person is perfectly healthy. They have to pay for health insurance they don't want or need.
So on that note. Do the people who do not drive have to start paying for auto insurance even if they don't own a car?
And how does imposing a penalty on someone who doesn't want insurance going to make that persons life better. I can't afford to pay for insurance. So how am I supposed afford a $3000 Plus penalty for not buying it?

That was one quote, of a few nowadays, that Obama probably wishes he could take back. Your logic is accurate. Make non-drivers buy auto insurance.
And somewhere, at some point, someone has to bring the Constitutionality of "forcing" the insurance on the public. Every now and then I catch a reference, to how the Government does not have that authority. Probably wishful thinking.
The "penalty" is also one of the many deeply troubling issues of this monstrosity called Healthcare reform.