How to make task dependent on a specific task on azure pipeline yaml?

How to make task dependent on a specific task on azure pipelines? My goal is to run tasks C and D if and only if task B failed.

I have tried using the condition: failed() but if task A failed it will run tasks C and D, which is incorrect.

Is there a way to specify which task another task is dependent on?

      - task: A
        inputs:
          command: 
          repository: 
          Dockerfile: 
          tags: 
        displayName: 'Build test image'
 
      - task: B
        inputs:
          fullImageNameAndTag: 
        displayName: 'test image'
        condition: succeeded()
 
      - task: C
        inputs:
          targetPath: 
        displayName: 'Download test image'
        condition: ?

      - task: D
        inputs:
          targetPath: 
        displayName: 'Download test2 image'
        condition: ?

This should do the trick - uncomment lines # exit 1 to fail a specific task:

trigger: none

pool:
  vmImage: 'ubuntu-latest'

steps:
  - script: |
      echo "This is task A"
      # exit 1
    displayName: 'Task A'
    # Allow the following tasks to run, in case of failure
    # If task is successful then $(Agent.JobStatus)=Succeeded
    # If task fails then $(Agent.JobStatus)=SucceededWithIssues
    continueOnError: true 

  - script: |
      echo "This is task B"
      # exit 1
    displayName: 'Task B'
    condition: eq(variables['Agent.JobStatus'], 'Succeeded')
    
  - script: |
      echo "This is task C"
    displayName: 'Task C'
    condition: failed() # same as eq(variables['Agent.JobStatus'], 'Failed')
  
  - script: |
      echo "This is task D"
    displayName: 'Task D'
    condition: failed() # same as eq(variables['Agent.JobStatus'], 'Failed')

Notes:

• Task A: continueOnError: true allows the following tasks to run if the task fails, but sets variable Agent.JobStatus=SucceededWithIssues
• Task B: Runs only if task A is successful, i.e. variable Agent.JobStatus==Succeeded
• Tasks C and D: Run if task B fails, i.e. variable Agent.JobStatus==Failed

See Job status check functions.