It's nice to see you here, @bulletproofwelding,
Yes, you need to record the tax payment in QuickBooks so you can match or reconcile it with the bank entry. Setting up a company contribution is only used to calculate the taxes on the paychecks created in QuickBooks.
This will increase the payroll liability for the tax amount, so you still need to process the payment. For the steps, follow the steps on this article: How to use QuickBooks to pay payroll taxes and other liabilities
Please post here again if there's anything else I can do to help you with your company contribution. I'll be right here to help you. Have a nice day!