This paper investigates the state-of-the-art of graphene-based technologies for the prospective use cases of end-to-end terahertz (THz) communication systems, such as industrial Internet of Things (IoT) applications and unmanned aerial vehicles (UAVs). THz communications offer ultra-high throughput and enhanced sensing capabilities, enabling advanced applications like UAV swarms and integrated sensing, localization, and mapping. The potential of wireless THz communication can be unlocked by graphene technology. Graphene, owing to its remarkable electrical, thermal, and mechanical properties, emerges as a promising candidate for a multitude of applications in aerial wireless communications in the THz band, including high-speed electronic devices, tunable metamaterials, and innovative antennas. However, reliable tools for the simulation-based design of graphene components, able to account for the fabrication-related uncertainties, are still missing. This paper presents the envisaged possibilities of wireless communications in THz bands, overviews graphene devices for RF applications at THz, and discusses the open issues of modelling THz devices and THz channel.