Numerous laboratory experiments have demonstrated the dependence of the friction coefficient on the interfacial slip rate and the contact history, a behavior generically called rate and state friction. Although numerical models have been widely used for analyzing rate and state friction, in general they consider infinite elastic domains surrounding the sliding interface and rely on boundary integral formulations. Much less work has been dedicated to modeling finite size systems to account for interactions with boundaries. This paper investigates rate and state frictional interfaces in the context of finite size systems with the finite element method in explicit dynamics. It is shown that due to the highly non-linear nature of rate and state friction and its sensitivity to numerical noise, the time integration step to achieve an accurate steady state solution is orders of magnitude smaller compared to the stable time step required in boundary integral formulations. We provide evidence that the noise, which is source of instability in the finite element solution, originates from internal discretization nodes. We then investigate the long term behavior of the sliding interface for two different friction laws: a velocity weakening law, for which the friction monotonously decreases with increasing sliding velocity, and a velocity weakening-strengthening law, for which the friction coefficient first decreases but then increases above a critical velocity. We show that for both friction laws at finite times, that is before wave reflections from the boundaries come back to the sliding interface, a temporary steady state sliding is reached, with a well-defined stress drop at the interface. This stress drop gives rise to a stress concentration and leads to an analogy between friction and fracture. However, at longer times, that is after multiple wave reflections, the stress drop is essentially zero, resulting in losing the analogy with fracture mechanics. Finally, the simulations with applied constant traction boundary conditions reveal that velocity weakening is unstable at long time scales, as it results in an acceleration of the sliding blocks. On the other hand, velocity weakening-strengthening reaches a steady state sliding configuration. (C) 2020 Elsevier Ltd. All rights reserved.