The technique of setting a sound in three-dimensional space. That is spatialization.
Binaural audio is a technique of encoding sound into XYZW channels and then routing those channels to any number of speakers in any arrangement. That is ambisonics
The technique of shifting the amplitudes of a sound source between sound channels. That is panning.
Binaural audio simulates three-dimensional sound using headphones, which is two channels of audio. Yes!