A method implemented by a first device includes estimating a first pathloss between the first device and a serving access node with respect to a sidelink beam between the first device and a second device, the sidelink beam being used by the first device to make a device-to-device (D2D) transmission to the second device, determining a sidelink transmit power for a sidelink transmission between the first device and the second device in accordance with the first pathloss, and transmitting, to the second device, the sidelink transmission in accordance with the sidelink transmit power.