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The Brihadaranyaka Upanishad, Section V, Verse 1.5.16 states:
There are indeed three worlds, the world of men, the world of the Manes and the world of the gods. This world of men is to be won through the son alone, and by no other rite; the world of the Manes through rites; and the world of the gods through meditation. The world of the gods is the best of the worlds. Therefore they praise meditation.
What is meant by "the world of the Manes"?
अथ त्रयो वाव लोकाः—मनुष्यलोकः पितृलोको देवलोक इति; सोऽयं मनुष्यलोकः पुत्रेणैव जय्यः, नान्येन कर्मणा; कर्मणा पितृलोकाः, विद्यया देवलोकः; देवलोको वै लोकानां श्रेष्ठः, तस्माद्विद्यां प्रशंसन्ति। ॥ १६ ॥
atha trayo vāva lokāḥ—manuṣyalokaḥ pitṛloko devaloka iti; so'yaṃ manuṣyalokaḥ putreṇaiva jayyaḥ, nānyena karmaṇā; karmaṇā pitṛlokāḥ, vidyayā devalokaḥ; devaloko vai lokānāṃ śreṣṭhaḥ, tasmādvidyāṃ praśaṃsanti || 16 ||
There are indeed three worlds, the world of men, the world of the Manes and the world of the gods. Brihadaranyaka Upanishad 1.5.16
Pitriloka has been translated as 'World of Manes'. Pitris are the ancestors who departed from this world and reside in Pitriloka. One may attain Manushya Loka or Pitri loka or Deva Loka as per their Karma.
In Brihadaranyaka Upanishad: Now, these are, verily, the three worlds: the world of men, the world of the Manes and the world of the gods. The world of men can be gained through a son only and by no other rite; the world of the Manes through rites; and the world of the gods through meditation. The world of the gods is the best of the worlds. Therefore they praise meditation.
The world of the Manes means pitris or ancestors and Manes - souls of dead ancestors
And appeasing the Manes is even more important than pleasing the Gods as said in the following verse:
Manu Smriti 3.203. For twice-born men the rite in honour of the manes is more important than the rite in honour of the gods; for the offering to the gods which precedes (the Sraddhas), has been declared to be a means of fortifying (the latter).
In Adition, It is one of 3 runas (debts) we borrow when taking birth as a man - to pitrus, which is repaid by begetting a son doing tarpana/shraddam.
‘Yājñavalkya,’ said he, ‘how many kinds of oblations will the Adhvaryu offer in this sacrifice to-day?’
‘Three.’ ‘Which are those three?’
‘Those that blaze up on being; offered, those that make a great noise, and those that sink.’ ‘What does he win through them?’ ‘Through those that blaze up on being offered he wins the world of the gods, for this world shines, as it were. Through those that make a great noise he wins the world of the Manes, for this world is full of uproar. And through those that sink he wins the human world, for this world is lower.’
