The "come and take it" slogan was originally used during the American Revolution in 1778 at Fort Morris, Georgia. But probably closer to Sen. Cruz's heart was its notable use during the Texas Revolution in 1835 at the Battle of Gonzales.
Here's the history, via the Economist:
WHEN Texas was part of Mexico, and Mexico was a colony of Spain, the Spanish Mexican authorities lent a cannon to the denizens of Gonzalez, Texas, the better to thwart attacks from the area's indigenous freedom fighters. When the colonists of Texas, who were largely of colonial American origin, began here and there resisting Mexican rule, a Mexican officer requested that Gonzalez return its cannon. The people of Gonzalez refused. A different Mexican officer therefore came to Gonzalez with 100 dragoons, seeking the cannon. The Texans had too few men and arms to repel the troops, so they gave them the runaround until reinforcements could arrive. A couple days later, having managed to muster a small army, the Texans attacked the Mexicans and eventually prevailed in the first battle of the Texas Revolution. According to lore, some ladies of Gonzalez had fashioned from a wedding dress a white flag with a black star, a black cannon, and the legend "COME AND TAKE IT", and the flag was raised over the cannon of Gonzalez in defiance of the Mexicans. The "Come and Take It" flag served as a symbol of Texas backbone and independence throughout the revolution, and ever since...