Yes OTC medication can be brought on the plane in both liquid form and pill form.
Liquid form OTC or prescription medicine does not have to be in a sealed bag but all medication including OTC medication must go through and pass screening.
Medication that is in liquid form can be brought on through carry on luggage in excess of 3.4 ounces in reasonable quantities required for the flight.
Pill form medication can be brought on the plane in unlimited quantities.