QEMU is a low level process that represents the virtual machine. It has no equivalent in Xen. Using QEMU directly is not a good idea unless your needs for VM configurations change all the time and you hardly reuse VMs.

Libvirt is at a higher level than QEMU. It manages the QEMU processes and gives them access to system resources (image files, network interfaces, pass-through PCI devices). It also makes it easy to manage the configuration of your virtual machines and the resources they use.

Higher still is virt-manager, which is a GUI interface for libvirt. Proxmox sits at roughly the same level as virt-manager.