Actually, you don't have to use the vouchers at all if you don't want to. You can pay your quarterly taxes online if you like, at www.irs.gov/payments. Then print your receipt.
Do take note that if you have not yet made *ANY* quarterly payments for 2019, then you are late with the first three quarters. There is nothing on this planet that you can do to change that either. So if you want to use the voucher to pay your quarterly taxes and "catch up", you only need to pay the 4th quarter and just pay enough for the 4th quarter to cover "ALL' quarterly taxes. So it's possible that (as an example) you could have paid nothing for the first three quarters. But if you figure you "should" have paid $500 per quarter, then just send a 4th quarter payment of $2000 and you're done.
Then at tax filing time you "could" be assessed an underpayment penalty or late payment penalty for the first three quarters. But it really depends on your specific and explicit situation. It's also possible you'd not be assessed "any" late payment or non-payment charges at all.
