I know, and I've gotten better at that. But I'm still under the impression that I need to get "on the board", or I get beaten up by creatures.
I'm not sure what you mean by getting on the board. With
counterspell control you should only answer things that are either game-ending states like combos or game-winning synergies, or things that directly harm your boardstate. If someone plays
Rampaging Baloths, it's big, but you leave it alone. If someone plays
Sylvan Library, it's strong, but falls into neither category. Leave it alone. If someone goes to remove your commander, that's something you counter. That's protecting your boardstate.
If you're worried about creatures attacking you, use pillowfort effects like
Propaganda or
Crawlspace. This should give you enough time to either get into your combo or grind out incremental advantage.
Also, how would you handle boardwipes, since the best ones are sorcery?
The best boardwipes are ones that don't hit your stuff. It's why
Cyclonic Rift is so popular (also instant-speed). You also don't need that many boardwipes. I typically only do two or three, sometimes none. So I wouldn't worry too much if you have 1 or 2 sorcery speed wipes.