Negotiations over a new border treaty with Russia should use the 1920 Treaty of Tartu as its starting point.
That Treaty was unilaterally violated when the USSR occupied the Estonian republic in 1940 and has remained in violation, as only 95% of Estonia acquired re-independence.
Does Estonia really want the reacquisition of the territory around Narva and Petseri? For what? It's occupied by unassimilable Russians hostile to Estonians.
It might be a better idea to cede those areas in exchange for Russian recognition of Estonia's sovereignty. Alas, that's impossible while Russia remains a chauvinistic autocracy. So, Estonia will just have to wait, probably for a very long time.
Meanwhile, the lack of a border treaty is an embarrassment for Russia. It's also the border between Russia and the EU, and glaring proof that Russia lacks regard for international law.