My CEL light was on, I checked it and got a CEL code 41, primary oxygen sensor - heater circuit malfunction.

(primary oxygen sensor) & (heater curcuit malfunction)... are the two related or are they each possible problems?

Also, what needs to be done to see exactly whats wrong/ how it can be fixed? Could further driving do any harm?

Im sorry for knowing absolutely nothing, any info would be greatly appreciated.