Can I put a pod in the queue if there is insufficient resource than requests?

I am new to Kubernetes and I am facing some issues while I am testing parallel tasks.

I have some resource requests on cpu and when I try to run multiple tasks parallel, some of them failed with the following msg.

"Pod Node didn't have enough resource: cpu, requested: 310, used: 3655, capacity: 3910"

Can I put the pod to be pending to be scheduled (rather than fail) until any node has enough cpu resource after completing the current tasks?

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