Lately when I plug in my ipad it is taking media off of my ipad without me telling it to.
If you enabled iCloud there's no need to sync the iPad with a computer using iTunes.
Tap Settings. If you see iCloud under the Settings heading on the left then you are using iCloud.
To sync media using iCloud, tap Settings > iCloud. Enable whatever content there you want synced.
Tap Settings > Store to enable Music, Apps, and Books.