Team points are based on zones. Where there are five states that zones can be in:
This is the state that zones start in, they're not controlled by anyone and don't show up in the team point bars.
The zone is controlled by a team, but no-one, friendly or enemy, is in it. The zone is placed in the team point bar that controls it with a +1 at the top. Your team also gain a bonus 100 points until the zone is lost.
The zone is controlled by a team, with more than one friendly player in the zone. The zone shows up in the team point bar, but with a +2 at the top.
When boosting a zone you get a popup saying:
DEFEND to KEEP your 100 pts and 2 pts/sec
The zone has one or more of both an enemy and friendly player in it. The zone shows up in the controlled teams point bar switching between; grey and black. No points are gained from it.
The zone is either; controlled by a team, or unallocated, but one or more enemy players are in the zone. If the zone is controlled, it shows up in the controlled teams point bar switching between; the capturing teams colour, and black. No points are gained from it.
And so the only time you get team points are when a zone is either being; controlled, or boosted. And when you have a zone in your team point bar you gain a bonus 100 points.
To note, zones that have week AI warriors fighting, seem to not be able to be; boosted, or contested.
Here, for example, is what the team point bar looks like when the Defenders are; contesting Zone A, controlling Zone B, and boosting Zone C.