IS THERE ANY WAY WE CAN STILL COLLECT FROM THIS COMPANY, SINCE WE DID NOT FILE A LIEN AND THEY HAVE NOT PAID ONE PENNY

You are apparently too late to get a statutory lien. However, if you were a general contractor meaning you did business directly with the owner of the property you can assert your constitutional lien. Many Texas contractors do not know that there are two types of liens in Texas, statutory and constitutional. The statutory lien is complex and has various requirements. However, for a general contractor (not a subcontractor) the constitutional lien is available and referred to as self executing; i.e. it is automatic once the contractor does the work. The big problem is that unless you file an affidavit based on the constitutional right the lien is lost if the property is bought by someone that does not know about the lien. The action to take is to file a lien affidavit with the county in which the project is located. That lien can be good as long as the same company still owns it. You can then sue to foreclose on the lien and to collect the debt. If the work was done in 2020, you are still within the statute of limitations.