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1) Do we calculate torque with respect to a point or with respect to an axis?

I have read them both in different resources, and so I am confused!!

2) If we calculate torque with respect to an axis, many introductory textbooks discuss the motion of the gyroscope by considering how the torque affects the angular momentum, but there is a problem that the angular momentum is specified with respect to a different axis of rotation than that of the torque (The angular momentum is about the axis of the wheel, while the torque is about the axis passing through the pivot and perpendicular to the first one); how can we resolve this?

Thanks to any helps.