Yes definitely. I recommend to read through the guide I shared which has all the information on how to create forms and how they work. Once somebody submits a request via a form a task is created in Asana and then you can comment, edit and everything else.
You can also set up rules that trigger only for tasks that are created via a form submission for example.
We usually close topics when a relevant answer/solution was posted, however people can still comment 
I also recommend to use the search function on the forum to find more ideas/tips shared by other users such as this or this and more.
I hope that helps