Genesis 27:36 - We live by the decisions we make.

And he said, Is not he rightly named Jacob? for he hath supplanted me these two times: he took away my birthright; and, behold, now he hath taken away my blessing. And he said, Hast thou not reserved a blessing for me?

Esau has no one to blame but himself for the decision he made in the past (Genesis 25:33). Joseph (meaning to take the place of another) was rightly named because the LORD told Rebekah that the elder shall serve the younger (Genesis 25:23). I don't believe that this was preordained; instead, I believe that God told Rebekah this because God knew that Esau would give away his birthright.