No, if you e-filed and paid online, and the only thing that printed were payment vouchers, you would not need to mail anything.
Is the voucher the amount you paid this year? If so, then as long as you DID pay, then you can disregard the voucher.
If you owed, these may be estimated payment vouchers for next year. If so, you can either mail them with your payment or make your quarterly payments online. You can pay directly via the IRS website which is the recommended way or you can pay by check. Be sure to include your SSN on your check and the tax year. For MO, you have the same options but you would go through the state website.
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