I had to copy
~/.m2/repository/org/springframework/security/spring-security-taglibs/3.2.0.RELEASE/spring-security-taglibs-3.2.0.RELEASE.jar
to my WEB-INF/lib folder. Then I get another issue about missiong 'Tag' class so I had to add
<dependency>
<groupId>javax.servlet.jsp</groupId>
<artifactId>jsp-api</artifactId>
<version>2.2</version>
</dependency>
copy paste that jar file seems to be dirty workaround.. please let me know if there is any better solution.
edit
there is a way to run it using mvn tomcat7:run instead run-war, so taglibs are loaded and template files refreshed without server restart. Just add
<jarScanAllDirectoriescontextReloadable>true</jarScanAllDirectoriescontextReloadable>
<contextReloadable>true</contextReloadable>
to your tomcat7-maven-plugin in pom.xml