Pick up any high school geometry book. It should start with a discussion of points and lines. It will say explicitly that they are undefined. Then come the axioms. They do not define points and lines either, but they do rule out some commonplace misconceptions such as marks made with a pencil on a piece of paper. The problem with trying to define things is that they must be defined in terms of other things. These other things need to be defined and so on ad infinitum. So to cut the knot, Euclid just gave up and made them abstract.
As to proving theorems about things not defined, you use the axioms (these are theorems not proven). So let's not define foo and bar, and let's accept two axioms:
Axiom 1: There is a foo.
Axiom 2: Every foo is a bar.
Theorem 1: There is a bar.
Can you prove this theorem even though foo and bar are not defined? Note that the axioms do not define foo and bar either, but they do rule out that either of them could be Santa Claus (apologies to our Christian friends). What's more, the axioms might be vacuous. That is, nothing in the real world nor in the world of ideas, satisfies them.