Yes, if you paid NY state taxes for 2016 in 2017, this would be claimed as an Itemized Deduction, under State and Local Income Taxes. But if you used TurboTax last year, that underpayment should be transferred to your 2017 return. If it wasn't, go ahead and add it in Estimates and Other Taxes Paid, under Other Taxes.
Scroll to Other Taxes Paid and select Balance due on your 2016 state taxes paid in 2017.
If this is for another tax year, you can select Payments for 2015 or earlier.