Edite para incluir 0.
SELECT
id_list.id,
status_list.status,
COUNT(counterTb.id)
FROM
(
SELECT 3 AS id FROM dual
)
id_list
CROSS JOIN
(
SELECT 'YES' AS status FROM dual
UNION ALL
SELECT 'NO' AS status FROM dual
)
status_list
LEFT JOIN
counterTb
ON counterTb.id = id_list.id
AND counterTb.status = status_list.status
GROUP BY
id_list.id,
status_list.status
ORDER BY
id_list.id,
status_list.status DESC