If I have a travel authorization through ESTA, do I need to fill out an I-94W?

Implementation of the ESTA program allowed DHS to eliminate the requirement that travelers in the Visa Waiver Program complete the I-94W form before entering the United States. CBP has switched to paperless processing for travelers arriving under the Visa Waiver Program by air or sea and who have been authorized to travel. Most carriers can now receive and validate ESTA traveler status messages as part of the traveler’s boarding status. Travelers entering the United States under the Visa Waiver Program who have an approved travel authorization will no longer be issued an I-94W green departure slip in their passport.