You will need to obtain the county (or state) data and then spatially join it with your dataframe. One possible source for such data is the TIGER shapefile published by the U.S. Census (see e.g. https://catalog.data.gov/dataset/tiger-line-shapefile-2016-nation-u-s-current-county-and-equivalent-national-shapefile).
You can then use the sf
package to read the shapefile into R, join it with your data, and then use regular summary functions to summarize your data by county.
library(sf)
filename <- 'https://www2.census.gov/geo/tiger/TIGER2016/COUNTY/tl_2016_us_county.zip'
tmpfile <- tempfile()
tmpdir <- tempdir()
download.file(filename,tmpfile)
unzip(zipfile = tmpfile, exdir = tmpdir)
county_data <- st_read(paste0(tmpdir, '/tl_2016_us_county.shp'))
unlink(tmpfile)
unlink(tmpdir)