Yes.

use threads;

...

my $t1 = async{ system '...'; };
my $t2 = async{ system '...'; };
my $t3 = async{ system '...'; };
my $t4 = async{ system '...'; };

$_->join for $t1, $t2, $t3, $t4;
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Or just:

$_->join for map async( sub{ system shift; }, $_ ), 
    'command1 args',
    'command2 args',
    'command3 args',
    'command4 args';
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They'll be more to it than that once you get around to describing the full requirements; but on the basis of what you've told us so far, that would do it.