So your categories are a hierarchy and you want to retrieve all the ancestors for any given category.
If you're not defining the structure of the whole tree in your schema you'll most likely need to make several queries, or have a helper of some sort that does, querying for the parent(s) until parent id is null/0. You might be able to do that with a recursive function on the model, whatever the case it'll be multiple queries.
This might be useful: http://stackoverflow.com/questions/27816738/laravel-parent-child-relationship-on-the-same-model
There are many ways of storing hierarchical data in SQL, search sql tree traversal and you'll find many approaches. There are ways of storing data so that the entire hierarchy can be fetched in a single query. Writes are more costly as they involve updating every or nearly every other record in the tree, but something like that may be preferable in your situation.