How did you say that you were going to pay your tax due to New York State? If you said that you were going to pay by check, then the voucher is the form you send with your check so that your payment is correctly processed by the state.
If you want to pay online, then you can ignore the voucher and use the New York State website.
Of course, if you gave TurboTax your banking details to do a direct debit by the state, you don't have to do anything.