Can heating pipes freeze

No it does not. It doesn't "freeze", but starting at 32 F it starts to "gel". As it gets colder, gelling can cause the filter or oil lines to become blocked. The best way to prevent this is to keep the oil warm (indoors or with a tank heater). The other option would be to get kerosene instead of heating oil. Kerosene doesn't start to gel until about -20 F. Unfortunately, kerosene is more expensive and you don't get as much heat out of it compared to heating oil.