I'm married, filling jointly. Do I need to pay quarterly estimated taxes on my self-employment income if my husband has tax withheld on his income (he's employed)?

I've never paid estimated quarterly taxes before, as I've made too little, but this year I plan on making more (I already have some new clients). I have both a part-time job and am self-employed, and my husband is only employed. I wonder if we can just increase withholdings and not pay quarterly estimated taxes.  

And, we've already filed for 2016, so not sure if we need to do anything this year.