How do I correctly query posts from a post ID?

$args = array(
    'post_type' => 'post',  //Specifying the type of posts
    'cat'=> 1,    //Selecting post category by ID to show
    'posts_per_page' => 4,  //No. of posts to show      
    'paged' => $paged       //For pagination
);
//You dont need to use query_posts( $args ); since you are using wp_query
$query = new WP_Query( $args ); 

Use while loop like this

while ( $query->have_posts() ) : $query->the_post();   

Instead of this

while ( have_posts() ) : the_post();    

In case if you don’t know where to find post ID, Read this article to know about post ID