You can use COALESCEto replace NULL values:
SELECT t1.id
, t1.customer_code AS cus_code
,COALESCE((
SELECT SUM(transaction_amt - cleared_amt)
FROM pbosdeposit
WHERE customer_code = t1.customer_code
),0) AS total_deposit
, COALESCE((
SELECT SUM(inv_amt)
FROM pbosinvoice
WHERE customer_code = t1.customer_code
) - (
SELECT SUM(cleared_amt)
FROM pbosdeposit
WHERE customer_code = t1.customer_code
),0) AS total_outstanding
FROM customer t1
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