How to properly organize work in a multi-threaded program?

Question

Java

There is an application that spawns a number of threads using the ExecutorService. Each thread is one task, the task has an id for identification. Two tasks (threads) with the same id cannot exist at the same time.
How to gracefully get out of the situation?
I have in mind to use the object of which to pass to the "task" method, and after the task is completed, at the end, remove the entry with the corresponding id from the list. Collections.synchronizedList(new ArrayList<>())