Do I need to mail 1040-ES to IRS if I plan to pay online?

Hi, I read the 1040-ES instruction but still unclear about this. It only talks about making payments on time either online or mail in the voucher. I tried the online but the system only asks me to select Reason for Payment which I select Estimated Tax, then Apply Payment To which I select 1040ES, then Tax Year which I select 2021. Then after verification page, I was directed to payment page. I haven't seen anywhere to upload the 1040ES form. Is it supposed to be this way for online payment?