Retirement tax questions

I was already penalized for not paying last year.  I retired and only received one paycheck but the estimates were for using my old income.  Also, I did not realize my pension wasn't withholding tax.  So, I had to pay a penalty.  But, taking the time to send in 4 separate payments seems silly when it's not that much.  I just could not find any info saying I could just send it all in at once.  Even the tech who called me didn't know and when she "looked it up" she said I HAD to send 4 separate checks.