Question on Underpayment Penalty.

Hello, I am subject to Underpayment Penalty and I receive W-2 so there is no tax I owe (something that I must report on my own). I've read posts about Underpayment Penalty so I get the concept what it is but the question is why I am subject to it when I am trying to file 2024 tax return? I paid my due before April 2024 (For 2023 Tax Return) and for the first time the tax return had Form 1040-ES Payment Voucher within the tax return. It basically says voucher tax payment in four payments (due 4/15/24, 6/16/24, 9/16/24, and 1/15/25) and is the underpayment penalty due to not paying the tax owed each quarter? I mean.. I paid the whole tax due amount when I filed my tax return around 02/2024 time frame. Could someone explain this please?