The licence fee goes back so far--right back to the 1920s--that I am not quite sure what the reaction was when it was first introduced.
What I would say is the evasion rate, the 5% figure, is the people who don't pay. I guess it would be honest in answering your question to say the 95% who do pay probably pay with varying degrees of willingness, some because they know they have to by law and some because they genuinely feel we're offering good value.
I think the majority of British people do think the licence fee offers good value for money and I think the majority of members of Parliament think that. But of course some people will pay the fee rather less willingly than others.