There are two different types of maps in the game; the Local Map and the World Map.
If an area has a Local Map, you can open it by clicking the map in the top-right corner that's in the expanded circle. From there you can see NPCs, harvest points, and teleporters that are clickable.
To open the World Map, click the Globe icon at the top-right. Click each location to show the available teleporters. From there, click on one of the icons to teleport to that location!