Understanding natural language involves recognizing how multiple event mentions structurally and temporally interact with each other. In this process, one can induce event complexes that organize multi-granular events with temporal order and membership relations interweaving among them. Due to the lack of jointly labeled data for these relational phenomena and the restriction on the structures they articulate, we propose a joint constrained learning framework for modeling event-event relations. Specifically, the framework enforces logical constraints within and across multiple temporal and subevent relations of events by converting these constraints into differentiable learning objectives. We show that our joint constrained learning approach effectively compensates for the lack of jointly labeled data, and outperforms SOTA methods on benchmarks for both temporal relation extraction and event hierarchy construction, replacing a commonly used but more expensive global inference process. We also present a promising case study to show the effectiveness of our approach to inducing event complexes on an external corpus.