Future 5G systems have set a goal to support mission-critical Vehicle-to-Everything (V2X) communications and they contribute to an important step towards connected and automated driving. To achieve this goal, the communication technologies should be designed based on a solid understanding of the new V2X applications and the related requirements and challenges. In this regard, we provide a description of the main V2X application categories and their representative use cases selected based on an analysis of the future needs of cooperative and automated driving. We also present a methodology on how to derive the network related requirements from the automotive specific requirements. The methodology can be used to analyze the key requirements of both existing and future V2X use cases.