Espero que vengas/vengan a visitarme algún día
vengas -one person-
vengan -two or more people-
That's the usual phrase. The word order in your original sentence is also correct. Notice that Spanish has a specific tense and mood to deal with verbs that are not related to the action in the sentence (like "to go" in English "I want you to go"). We don't use infinitive for this purpose ("venir") but present subjunctive ("venga, vengas, venga, vengamos, vengáis, vengan").
Espero recibirlos algún día en mi casa.
it's not bad, but somewhat it implies you are prevented from doing that now. It doesn't sound as "just call me to tell me when you're coming" but "tell me when would you like to come visit and we'll discuss if it's possible".
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