No, usually not. They printed for your convenience. If you have no penalty for underpayment in 2018 (line 23 on your 1040) and do not expect to receive a big payment next year for something where tax would not be withheld, you can toss them out.
Do you have a tax due this year? The IRS reduced the withholding tables so you got more back in your paychecks this year. It’s been on the news that people are owing this year.
The estimated payments are optional to pay. They are estimates for next year. Turbo Tax doesn't want you to owe next year. They might have printed out if you got a one time large income this year. Like if you took a IRA or 401K distribution or a large capital gain. They DO NOT get sent to the IRS or state with your return.
You might want to adjust your withholding at work so you won't owe too much next year. They don’t get sent with your tax return so the IRS or state won’t be expecting them.