yes! Do it NOW! TODAY! That way, you will only be paying penalties for being late the first three quarters. You should pay your expected tax liability at a minimum, in FULL for the 2016 tax year. I myself always overpay, so that I'm guaranteed a refund every year, and will NEVER owe, or EVER have any underpayment penalties.
To pay your tax liability now, just go to https://directpay.irs.gov/directpay/payment?execution=e1s1 and do it there.