1040 ES is a form you send in when you send payment, not sent to you. This is how it works - you keep track, report it.
If you want to verify your records, you should be able to see payment history at the websites where you paid.
Actually when you're done in TurboTax - have a look at the 1040 packet you can download, and you'll likely see 4 1040 ES coupons ready to print and mail in (if you prefer that to what you're doing) for next year.