I dont want to make payments ...just want to pay in full

Then select to pay by direct debit from your bank, by credit card or by sending a check.

Did it print out 4 payment slips on 1040ES?  

Those are not for your tax due.  Those are 1040ES quarterly estimated payments for NEXT YEAR.  They are pre-payments so you don't end up owing again next year.  They are optional to pay and don't get sent with your return.