Form 1040-ES payment past due date, before due

I just realized that I have 1040-ES in the 2023 return, so paid Fed and state estimated tax as indicated in Voucher 3.  

 

If I pay estimated tax of Vouchers 1 and 2 from now, past due at this point, can I reduce the penalty on them in my 2024 return?  In other words, is it better to pay 1040-ES sooner than later even if it is past due?

 

And, can I pay Voucher 4 estimated tax before due date?