Need to file quarterly taxes late and a W2

I had some health problems and I neglected to file form 941 in 2019 for each quarter.  I made a little bit of money.  About $20,000.00.  Can I just file the 941 forms now, albeit late?  If so, can (or should I) I still file a W2 for myself and get a credit for the taxes I pay from the 941 filings.  I have an S corp.  I generated a K1 and I get that the profit from the S corp comes to me personally and I end up paying taxes on my personal income 1040, but I want to make the IRS at least somewhat happy and if that means filing Form 941 for each quarter of 2019 now and pay the withholdings now, I'll do so.