The typical response pattern is that a sensory afferent neuron receives the external stimulus and communicates with an interneuron. The information is then interpreted, and a response is sent through efferent motor neurons to the appropriate portion of the body. Afferent neurons communicate information from the stimulus to the brain/spinal cord. Efferent neurons communicate information from the brain/spinal cord to the appropriate portion of the body.
In short, they make up the Peripheral Nervous System (PNS).