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The 2px and 2py orbitals cannot form sigma bonds because the 2pz took up the only spot for the sigma bond. This is because the sigma bond is between the atoms while the pi bond is on the side. Thus, the 2px and 2py orbitals form bonds along the sides of the atom.
When the book talks about the 2pz orbital as being the only one able to form a sigma bond, it only means with respect to the z axis. Since 2pz is the only orbital directly along the z axis, the 2px and 2py orbitals, if they are involved through double or triple bond, form pi bonds. However, the 2px and 2py can form additional sigma bonds but the atom they bond to will be along the x or y axis, not the z axis.
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