What you can do are the following:
1) Use a Great General. The Planting of a Citadel causes the surrounding tiles to immediately come under your control even if the tiles belong to another Civ. This triggers a diplomatic penalty for the Civ concerned.
2) Not exactly tile stealing but rival cities can flip to your side if your ideology has enough pressure.
Yeah, individual tiles no longer flip due to culture, so borders are far more stable in V, but entire cities can flip given enough unhappiness and ideological pressure.
Buy tiles before they become someone else's is the closest you can get (aside from what's already mentioned). That also comes with a diplo penalty and they'd ask you to stop.
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