For example, if the recipient complains a week later that I am not the person
who initiated the transaction, can I still sign a message at that point?
Yes, as hosemary has explained above, you can sign the message at any time ad long as you have the addressés private key.
In this specific case, most people will accept a signed message as a proof that you are the one who initiated the transaction. But this is not always true. Signing a message only means that you know the addressés private key but it doesn’t ... that you are the one who initiated the transaction (it could be someone else who also knows the private key).