I've tackled this in various ways.
1) You create settings of a size appropriate to your speeds. No FTL, then you stay in the solar system! You can have some amazing space adventures in one solar system.
And if our own solar system seems a bit small, make a bigger one, like Firefly.
2) If nobody else can move faster than light either, it really doesn't matter, as you'll never know what's happening back at home, and it can't affect you. Freeze the PCs for the time required, wake them up. Have some fund with time dilation.
Well, the "fun" in tie dilation is in the interaction with home. Otherwise, relativistic travel is just "one-way trip to another universe" really.
3) Make time and age part of your advancement system. You can "spend" XP in real-time, or "years" in downtime to purchase character advancements, at the cost of growing older.
It still becomes a worldbuilding issue - say some of the PCs take a relativistic jaunt, and others don't. The ones at home advance using years, the ones on the trip by XP. The GM still has to figure out decades worth of world-changes. A system to handle advancing cultures (not just tech, but *cultures*) over time would be a good part of a relativistic travel system.