In my world:
Teleport can only work between teleport circles, which are normally permanent runes set up in various important places (guilds, king's estates, etc.) But they are not always permanent, as spellcasters can inscribe these runes, which takes an hour to complete but it willl last for up to a half hour per level. Spellcasters can only teleport to known circles, thus they cannot say a generalized place like "somewhere in the tower", the distance and direction must be known.
Greater Teleport, does not require a teleport circle to teleport from, but they still need a circle to teleport to.
I have also added a lesser teleport as a fourth level spell, which enables people to move between two set teleport circles, i.e. there is only place to go.
There is a bit more to my rules but this gives you a feel for what I am trying to do. The PCs use these circles to go between cities or other important places, but they still need to do the last bit of a journey on foot or by mount.