You can do this through css. The site you are referring to uses display:table for both logo and navigation. I would probably use display:inline-block and/or floats instead to achieve this.
I would highly recommend you use a child theme for this so the Twenty Seventeen code base stays intact. You can find out about how to use child theme here at the wordpress codex.
I would also like to recommend using firebug or a similar developer tool to peek at the code of other websites.