The following TurboTax help article will give you some examples for when they are printed with your return. However, there is nothing filed with the IRS with regard to these vouchers for the next tax year and you are not required to use them or make the payments. They are there only to assist users who do wish to make estimated payments.
Why did 1040-ES estimated tax vouchers print out? Do I need them?
They are optional to pay. The 1040ES quarterly estimated tax payments DO NOT get sent to the IRS or state with your return. So they won't be expecting them. Turbo Tax is very conservative and doesn't want you to owe too much 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 had a large capital gain. They are just a suggestion. You can ignore them. You might want to adjust your withholding at work so you won't owe too much next year.