أَقِيمُوا الصَّلَاةَ means “Establish prayer.” The command requires prayer, but these words alone do not state its recurring times.
The Quran also says:
إِنَّ الصَّلَاةَ كَانَتْ عَلَى الْمُؤْمِنِينَ كِتَابًا مَوْقُوتًا
Prayer is prescribed for believers at appointed times.
The five daily prayers have prescribed times. When the next prayer time arrives, the corresponding duty becomes due. Performing that prayer once fulfils that time's duty; the same prayer does not become obligatory repeatedly within that time just because its wording is a command.
The recurring time renews the duty. This is different from treating the bare command word as “repeat again and again.”
- Why Prayer Becomes Due Again