The easiest way is to use Proc::Daemon.
#!/usr/bin/perl
use strict;
use warnings;
use Proc::Daemon;
Proc::Daemon::Init;
my $continue = 1;
$SIG{TERM} = sub { $continue = 0 };
while ($continue) {
     #do stuff
}
Alternately you could do all of the things Proc::Daemon does:
- Fork a child and exits the parent process.
- Become a session leader (which detaches the program from the controlling terminal).
- Fork another child process and exit first child. This prevents the potential of acquiring a controlling terminal.
- Change the current working directory to "/".
- Clear the file creation mask.
- Close all open file descriptors.
Integrating with the runlevel system is easy.  You need a script like the following (replace XXXXXXXXXXXX with the Perl script's name, YYYYYYYYYYYYYYYYYYY with a description of what it does, and /path/to with path to the Perl script) in /etc/init.d.  Since you are using CentOS, once you have the script in /etc/init.d, you can just use chkconfig to turn it off or on in the various runlevels.
#!/bin/bash
#
# XXXXXXXXXXXX This starts and stops XXXXXXXXXXXX
#
# chkconfig: 2345 12 88
# description: XXXXXXXXXXXX is YYYYYYYYYYYYYYYYYYY
# processname: XXXXXXXXXXXX
# pidfile: /var/run/XXXXXXXXXXXX.pid
### BEGIN INIT INFO
# Provides: $XXXXXXXXXXXX
### END INIT INFO
# Source function library.
. /etc/init.d/functions
binary="/path/to/XXXXXXXXXXXX"
[ -x $binary ] || exit 0
RETVAL=0
start() {
    echo -n "Starting XXXXXXXXXXXX: "
    daemon $binary
    RETVAL=$?
    PID=$!
    echo
    [ $RETVAL -eq 0 ] && touch /var/lock/subsys/XXXXXXXXXXXX
    echo $PID > /var/run/XXXXXXXXXXXX.pid
}
stop() {
    echo -n "Shutting down XXXXXXXXXXXX: "
    killproc XXXXXXXXXXXX
    RETVAL=$?
    echo
    if [ $RETVAL -eq 0 ]; then
        rm -f /var/lock/subsys/XXXXXXXXXXXX
        rm -f /var/run/XXXXXXXXXXXX.pid
    fi
}
restart() {
    echo -n "Restarting XXXXXXXXXXXX: "
    stop
    sleep 2
    start
}
case "$1" in
    start)
        start
    ;;
    stop)
        stop
    ;;
    status)
        status XXXXXXXXXXXX
    ;;
    restart)
        restart
    ;;
    *)
        echo "Usage: $0 {start|stop|status|restart}"
    ;;
esac
exit 0