Sayyiduna Ibn Umar (may Allah be pleased with them both) narrates that I traveled with the Messenger of Allah (peace and blessings of Allah be upon him), and with Sayyiduna Abu Bakr, Umar, and Uthman (may Allah be pleased with them all). All of them used to perform the Zuhr and Asr prayers as two rak‘ahs each (while traveling), and they would not perform any (nafl or sunnah) prayers before or after them. And Sayyiduna Abdullah bin Umar (may Allah be pleased with them both) said that if I had to perform (nafl or sunnah) prayers before or after these prayers (while traveling), then I would have performed the full prayers (and not shortened them).