I'm honestly not sure myself, so I'm looking at The Expanse wiki now, so I don't give out wrong info, lol.
It says that S1 is based on most of the first book, S2 is based on the remainder Leviathan Wakes and part of Caliban's War, S3 is the rest of Caliban's War and Abaddon's Gate, and S4 is based on Cibola Burn.
It says that S1 is based on most of the first book, S2 is based on the remainder Leviathan Wakes and part of Caliban's War, S3 is the rest of Caliban's War and Abaddon's Gate, and S4 is based on Cibola Burn.
https://expanse.fandom.com/wiki/The_Expanse_(TV)
So, yes, you should read Cibola Burn. :)