Commands are created by a client, put onto a command bus for the server to process in it's domain. Commands are simple messages/requests to mutate state. It's not about editing data, but about performing tasks. Commands are always in imperative tense (present), asking the system to do something. As they are in the imperative tense, they are essentially questions and as the language suggests, the server has the right to refuse.
Command handlers handle these commands and are simple facades/coordinators over the domain below and methods should be thin; like MVC controller actions. Behaviours should be pushed down to the domain below and not exist in the handlers themselves. As each command changes state, it also typically results in events being pushed onto an event bus for recording and processing by event handlers.
Commands and events are very similar in design, only differing by their intentions. Events are described as verbs in the past tense. As the language suggests, it has already occurred, so no point in throwing exceptions. However, you can come up with a counter event. Event handlers typically insert data into denormalised database tables in the query database (the read side) but can perform a range of other tasks, such as send an email.