Ibix said:
You have a typo in the first equation, (##dd\tau## instead of ##\frac{d}{d\tau}##) which may be confusing the OP.
Thanks for pointing this out. I've corrected it.
Maybe it helps to also define the space-time four vector
$$(x^{\mu})=\begin{pmatrix} c t \\ \vec{x} \end{pmatrix},$$
and it's derivative with respect to proper time,
$$\frac{\mathrm{d}}{\mathrm{d} \tau} x^{\mu}= \frac{\mathrm{d} t}{\mathrm{d} \tau} \frac{\mathrm{d}}{\mathrm{d} t} x^{\mu} = \left (\frac{\mathrm{d} \tau}{\mathrm{d} t} \right)^{-1} \frac{\mathrm{d}}{\mathrm{d} t} x^{\mu}.$$
From the definition of proper time, ##\tau## you get
$$\frac{\mathrm{d} \tau}{\mathrm{d} t} = \sqrt{1-\beta^2}, \quad \beta=\frac{1}{c} |\vec{v}|, \quad \vec{v}=\frac{\mathrm{d}}{\mathrm{d} t} \vec{x}.$$
Then you get
$$\frac{\mathrm{d}}{ \mathrm{d} \tau} x^{\mu} = \frac{1}{\sqrt{1-\beta^2}} \begin{pmatrix} c \\ \vec{v} \end{pmatrix}.$$
Now one can show that ##\tau## is the time measured by a clock carried on by the particle, i.e., ##\mathrm{d} \tau## is the time increment measured in the momentaneous rest frames of the particle. As such it is independent of the choice of the inertial reference frame, since
$$\mathrm{d} \tau=\frac{1}{c} \sqrt{c^2 \mathrm{d} t^2-\mathrm{d} \vec{x}^2},$$
is invariant under Lorentz transformations.
That's why it's plausible to define the momentum as
$$\vec{p}=m \frac{\mathrm{d}}{\mathrm{d} \tau} \vec{x}=\frac{m}{\sqrt{1-\beta^2}} \vec{v}.$$
Here, obviously ##m## is just the same quantity, called mass, as in Newtonian physics, and it doesn't depend on the motion of the particle, and it is invariant under Lorentz transformations. That's why it's called "invariant mass" and that's why one exclusively works ith this notion of mass when dealing with relativistic particles. Unfortunately there are many highschool textbooks, which still introduce the "relativistic mass", which is very unfortunate, because it introduces long outdated confusing concepts, which should be avoided, because unfortunately we remember best the things about a a subject, we learn first about it.
Thus you get a four-vector for momentum by just defining
$$p^{\mu} = m \frac{\mathrm{d}}{\mathrm{d} \tau} x^{\mu} = \frac{m}{\sqrt{1-\beta^2}} \begin{pmatrix} c \\ \vec{v} \end{pmatrix}.$$
To interpret the meaning of the time component, you can just calculate the non-relativistic limit for ##|\beta|\ll 1##:
$$p^0=m c (1-\beta^2)^{-1/2}=mc \left (1+\frac{\beta^2}{2} + \mathcal{O}(\beta^4) \right) \simeq m c + \frac{m \vec{v}^2}{2 c},$$
i.e.,
$$E=c p^0 \simeq m c^2 + \frac{m}{2} \vec{v}^2.$$
This shows that it makes sense to interpret ##p^0=E/c##, where ##E## is the energy, including the "rest energy" ##E_0=m c^2##, i.e., you have
$$E_{\text{kin}}=E-E_0 = m c^2 \left (\frac{1}{\sqrt{1-\beta^2}}-1 \right),$$
for the exact relativistic kinetic energy of a particle, and you get also the usual non-relativistic limit
$$E_{\text{kin}} \simeq \frac{m}{2} \vec{v}^2,$$
but it's indeed only an approximation for particles moving with a speed much smaller than the speed of light (in vacuum).