Retirement tax questions

Thank you for the helpful information.  When you said in your reply:

 

You can adjust your federal tax withholding by submitting Form W-4P to the pension plan.

 

Can you specify how exactly (besides submission of W-4P form) one should adjust the federal tax withholding?  If it's adjusted to have a lower tax withheld, do you  have to come up with paying the intended amount withheld in estimated taxes or??  I"m confused by this part of your response.  Thanks again for your help!