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 minimap in the top-right corner. From there you can see NPCs, harvest points, and teleporters.
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!