A lot of folks follow the instructions on the milk replacer bag. All calves aren't the same. I, like you, have never started out a brand new calf with the full recommended ration. And you cannot go with any feedback from how much they want, as you know.
To @caroline rayburn , those calves look just fine. And if you already have them consistently eating starter feed, they may never need the whole 4 qt. ration. More experienced folks around me will have a one 50 lb. milk replacer ration per calf until weaning. I have never managed that. But, if they are eating high-protein/high-energy starter already, you are ahead of my typical progress.