If you have a Form 1040-ES after completing the 2019 tax return for paying 2020 estimated taxes, those forms can only be printed and mailed by you to make the estimated tax payment with a check or money order. They are optional and are not reported to the IRS.
If you used the IRS payment website and enrolled with Electronic Federal Tax Payment System (EFTPS) scheduling 4 estimated tax payments to be debited from your bank account, then you would have to cancel those payments.
https://www.eftps.gov/eftps/
