We usually use come to talk about movement from the listener to the speaker or from the speaker to the listener.
Movement from listener to speaker
Can you come to my office? I need to show you something.
Movement from speaker to listener
Shall I come to your place at 8 pm?
We also use come to talk about movement from another place to the place where the speaker or listener is:
Rosie is going to come to you on Friday if that’s okay. (a third person moves to the listener)
A man came to my door last night selling pictures. (another person moved to the speaker)
Come is also used with the meaning of ‘accompanying the speaker or listener to a place’:
Are you coming with us to the beach this afternoon?
A:I’m going for some lunch. Are you coming?
B:Yeah, why not.