Yes, this is true. It follows form the work of Barwick and Kan on relative categories as a model for $\infty$-categories.
The idea is similar to how Thomason's work shows that every homotopy type can be modeled by a poset (by taking subdivisions of the category of simplicies of the simplicial set).
Specifically in ArXiv:1011.1691 and ArXiv:1101.0772 they construct a Quillen equivalence between the Joyal model structure and the model structure of "Relative Categories". This latter is a model structure on the category of small ordinary categories equipped with a collection of "weak equivalences". Importantly they show that the cofibrant objects in the latter are relative posets - relative categories whose underlying category is a poset.
This means that every $\infty$-category can be modeled by a relative poset.
If you are just interested in ordinary categories, then you don't even need the Quillen equivalence. View the ordinary category $C$ as a relative category with trivial weak equivalences. Then its cofibrant replacement in the Barwick-Kan model structure will be a relative poset $(P,W)$, and it will satisfy $C \simeq P[W^{-1}]$.
Added for clarification
From the comments to the OP is seems that people want to see a bit more about how this works. In particular how can we get a cofibrant replacement? Is it functorial?
In the first paper Barwick and Kan construct an adjunction which they then show is a Quillen equivalence:
$$K_\xi: ssSet \leftrightarrows RelCat: N_\xi$$
Here $N_\xi$ is a sort of nerve functor. Claim: for any relative category $C$, $K_\xi N_\xi(C) \to C$ is a cofibrant replacement of $C$ (hence a relative poset modeling $C$). This is clearly functorial in $C$ by construction.
Proof: $N_\xi(C)$ will automatically be a cofibrant object in bisimplicial sets in the Reedy(=injective) model structure, and so $K_\xi$, being a left Quillen functor, will send it to a cofibrant relative category.
We just need to know that (1) the counit $\epsilon_\xi :K_\xi N_\xi C \to C$ is a weak equivalence in Relative categories.
Weak equivalences in the model category of relative categories are detected by $N_\xi$ (by construction - it is a transferred model structure). Thus (1) will be true if the map $N_\xi\epsilon_\xi: N_\xi K_\xi N_\xi C \to N_\xi C$ is a weak equivalence.
Prop 10.3 in 1011.1691 states that the unit map $\eta_\xi: id \to N_\xi K_\xi$ is always a weak equivalence. Thus $\eta_\xi N_\xi$ is a weak equivalence. This is a left inverse of $N_\xi \epsilon_\xi$, so by two-out-of-three $N_\xi \epsilon_\xi$, and hence $\epsilon_\xi$ are weak equivalences. $\square$
You can also get an easier description using the functor "$N$" rather than the more cumbersome $N_\xi$. See section 7-8 of that same paper.