Well, the way i see it is i try to change enough of it so that it's not too similar to what it's based on. Improve it wherever possible.
Alot of it comes down to intent really i think. If you're changing it only enough to avoid a lawsuit, i'd call that concept theft.
If you're really trying to change it to avoid concept theft and make it your own, well, then i wouldn't call it theft. But if you can't change it enough to consider it to be your own, at least contact the original creator if possible and ask if he/she minds.
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Subtlety is my middle name... and first and last in case you didn't get the point.
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