Yes, once you are the lord of a village you can upgrade it to a fortified manor. Could be that you have to build a regional manor first if the village doesn't already has one - and from that regional manor near your village you can create a fortified manor. No, it is not present when you start the game but I don't know if this is valid for the option at game start 'whom do you want to serve', where you can choose the faction you want to serve from the very beginning. However, if you own a village or some villages either as lord or king you can upgrade 1 of them into a fortified manor. Doesn't necessarily have to be the first village you got awarded.