For me there there are two main kinds of drawing, sketching and single line. Sketching is used for capturing the idea. There is usually the expectation of refining a sketch to bring the idea into focus. You could very well wind up with a photo-realistic picture if you were of that bent. That is way beyond my skills and desire. Now single line is a way of drawing the outlines. To me this requires a level of assuredness to capture a likeness with simple single pen strokes. This is like cartoon drawing. But can you draw like this right off the bat? I'd say not. Try to draw a circle or a box or a shoe or a bike. We might see it in our head but putting pen to paper requires some concentration and practice.