Bilbo did not steal the Arkenstone
The Saucepan Man earlier talked about Bilbo's theft of the Arkenstone. One could strongly argue that he did not steal it; he was just taking his promised reward.
In the original contact with Thorin and Company, Bilbo was promised one fourteenth share of the profits, in return for his services. Later, after surviving a second encounter with Smaug, he was given the option of picking his own fourteenth share. Therefore, Bilbo, having fulfilled his part of the contract, picked his reward by taking the Arkenstone as his fourteenth. When discussing matters with Bard and the Elvenking, he showed them his copy of the contract before handing over the Arkenstone, making it clear that he was entitled to it, and therefore entitled to give it away as he saw fit.
Later, once Thorin found out, and was persuaded not to kill Bilbo, he publicly accepted this state of affairs, saying that he would, for the Arkenstone's return, give a fourteenth share of the silver and gold part of the treasure.
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