1040-ES payment past due

I filed my Form 1040 extension and now the Turbo tax printed the 2021 Form 1040-ES along with my yr 2020 final tax return forms. Because I delay to file my 2020yr tax return, I noticed that  three of four printed Form1040-ES payment vouchers has expired until I print out my final tax return.  My W-2  withholding always exceeds my actual tax liability in my previous years, and  Turbo tax never printed estimate of tax vouchers before.  Should  I pay to IRS the three expired payments now? Will any penalty to me because of the estimated tax payment after due date? What should do now? Thanks.