Depends on how you define habitable. If you have it broad enough to equal mars, then yes definetly, if you mean life supporting, it's a little harder, but still very possible. Either way, that's a yes, you'd have at most three, maybe four, inside the habitable zone. Had Mars not lost it's magnetic field, life would certainly have evolved there.
Take this system I uploaded as an example. One is probably comparable to Earth in an extreme ice age. The average temp is cold, but still above freezing and is survivable with adaptations, the other one goes through a more extreme temperature change, but is still certainly capable of supporting life.
For the planet, GaianPelagic is what you want, 80-99% covered by water. Think Earth with all the ice caps melted, and perhaps then some.