When I took figure drawing lessons many years ago, our very first lessons were gesture drawings. It took us many lessons before we could move on to the actual anatomy, and even to this day, I start every sketch with the line of action first. IMO It would be a huge mistake to start drawing limbs and torsos without first figuring out what pose they would be in. Doing so would only lead to stiff, poseless figures. SO... I would say learn gestures and poses first.
Also on a side note, as much as I would like to say that how-to-draw-anime-figure tutorials are helpful, most really aren't. It would be more beneficial to start out with realistic anatomy, in my humble opinion.
