You can add a related item to the task, but it will not work as a predecessor like in the work plan. However you might be able to create a validation rule that doesn't allow you to complete the task until the related items are completed.
Can we add a Case: issue or Risk as a predecessor to a task or milestone?
We have some tasks that have a dependency on an issue being fixed first. Is there a way to add issue as a predecessor?
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To add on to what Guy said, you can only use work items for dependencies (Tasks, Milestones, and Projects). I think the simplest solution is to make a task that represents the issue and use that for the dependency.