yes. all alcohols can form esters w/ carboxylic acids. I think that u mixed it up with the oxidation of alcohols. primary alcohols can be oxidized into aldehydes then to carboxylic acids. secondary alcohols can only be oxidized into ketones while tertiary alcohols do not undergo any oxidation.
instead of drawing the skeletal structure in a line, just try to twist the carbon bond so that the -OH group is on the side. i find it easier to understand esterification in this way.