Is there a command similar to mkfifo but for domain sockets?
There is no exact equivalent of mkfifo for socket, i.e. there is no command that just creates a "hanging" socket. This is for historical reason: server's function bind(), the one that creates a socket name/inode in the filesystem, fails if the name is already used. In other words, server cannot operate on a pre-existing socket.
So if you'd created socket earlier, it would need to be removed by the server anyway first. No benefit. As you see with Gregory's answer, you can create a socket IF you keep a server for it, such as netcat. Once a server is gone, the old socket is gone. A new server has a new socket, and all clients need to re-connect, despite the socket's name being identical.
You can use python:
python -c "import socket as s; sock = s.socket(s.AF_UNIX); sock.bind('/tmp/test.sock')"
Also C, see this answer.