You can cast to "date" datatype to truncate the time portion, like
SELECT *
FROM table
WHERE cast(TimeStamp as date) = '2021-09-03'
But that will prevent the usage of a may existing index.
WHERE TimeStamp < '2021-09-03 23:59:59.999'
That will return a wrong result. Datetime has a precise of 3 milliseconds and SQL Server "round" it up to 2021-09-04, see
https://learn.microsoft.com/en-us/sql/t-sql/data-types/datetime-transact-sql?view=sql-server-ver16
select cast( '2021-09-03 23:59:59.999' as datetime)