Relay-aided transmission is envisioned as a key strategy to combat severe path loss and link blockages emerging as unique challenges in millimeter-wave (mmWave) communications. This work considers a relay-aided multiuser mmWave communications scenario aiming at maximizing the sum rate through optimal transmit and relay precoder design. We propose a novel joint precoder design strategy, which exploits weighted minimum mean-square error (WMMSE) using its equivalency to sum-rate maximization. We obtain closed form expressions of transmit and relay precoders, and propose to compute them through alternating-optimization iterations without having to resort to complicated numerical optimization techniques. Numerical results verify the superiority of the proposed precoding strategy as compared to conventional precoding schemes.