Put a complete joomla category structure

I want to create a component that a #__accessportal_app table will relate to the #__categories table in joomla, but I don't want to go to the contents - categories menu to add it since it doesn't appear as being in my category, so I want to have a complete structure for adding, changing and deleting with a form and list of categories and when saving it will be placed in the joomla table but in the extension being mine, being related with a foreign key in the main table, is there a way to do this?