How to remove 1040-ES forms before filing.

If you don't want them you can just ignore them and shred them.  They don't get sent with your return and the IRS will not be expecting them.  They  are optional to use.  

Why are you stressing over the 1040ES vouchers?   You are not required to use them.  The IRS is not getting them when you file your tax return.  When you print your return from the pdf you can select the pages you want to print--and omit printing pages you do not want to waste a sheet of paper on.   You are not required to make estimated quarterly payments.   They can help you avoid a big tax bill next year and help avoid an underpayment penalty, but it is up to you whether you want to print them or use them.