Yes, definitely start with OpenGL ES 2.0. In fact, I would say start with WebGL (which is almost like OpenGL ES 2.0). The public wiki over here is a good place to start. The nice thing about WebGL is that you don't have to deal with things like compiling/linking and you avoid a lot of boilerplate code to setup a lot of stuff. So you get to focus on the actual drawing (which really is the fun bit :) ). If you have an OpenGL ES 2.0 book, that should still map over well to WebGL.
Plus there are a lot of demos in the repository which you can run immediately (and click your browser's 'View Source' to jump right into the code). Start with the simple ones like: image-texture-test, Colored Box, Textured Box
Those examples, together with your OpenGL ES 2.0 book, should get you started right away. Have fun!
EDIT: I should probably also point out that if you do decide to go the OpenGL 4.1 route, you probably don't need to wait for an OpenGL 4.1 book. An OpenGL 3.3 or 4.0 book would do just fine.
