Become a lord later?

Hi folks, new to the mod- picked up M&B off steam during the recent sale and lovin' it!  If I chose a lowly background like street urchin/outlaw etc. Can I later become a lord and choose a banner somehow?

I couldn't find anything on this in the wiki, thanks!

You´ll get to chose your banner after becoming a vassal or establishing your own kingdom.

Awesome,  thanks!