If it is Form 1040-V, you can safely ignore it since you already scheduled a withdrawal unless there is a problem and the payment doesn't go through and you later need to send in a check.
For Form 1040-ES these are the suggested payments that you make toward your 2020 taxes. Whether or not you make those payments depends on if your situation is expected to be the same. Those vouchers are used for payments by mail with a check - but you can disregard them if you pay using other methods such as the EFTPS or by increasing withholding.
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