The unprecedented increase in wireless data traffic, predicted to occur within the next decade, is motivating academia and industries to look beyond contemporary wireless standards and conceptualize the sixth-generation (6G) wireless networks. Among various promising solutions, terahertz (THz) communications (THzCom) is recognized as a highly promising technology for the 6G and beyond era, due to its unique potential to support terabit-per-second transmission in emerging applications. This article delves into key areas for developing end-to-end THzCom systems, focusing on physical, link, and network layers. Specifically, we discuss the areas of THz spectrum management, THz antennas and beamforming, and the integration of other 6G-enabling technologies for THzCom. For each area, we identify the challenges imposed by the unique properties of the THz band. We then present main advancements and outline perspective research directions in each area to stimulate future research efforts for realizing THzCom in 6G and beyond wireless networks.