If for some reason I wasn't ready for them to enter (or didn't want them to come in), I'd say "just a minute" or "hold on" or simply "don't come in" instead of "yes"/"yeah" when they knocked.
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Now if door is open or ajar (or has window) and we make eye-contact, then the "yes" is more of an implied "yes, [come on in]" or "yes, [what do you need]" (an acknowledgement of them and invitation to come further in).
But it all depends on formality of the location and situation of who could be knocking. Is it a closed environment where the knocker is likely from a limited/known pool of people?
If completely unknown, then I may start off with "who is it?" before granting a "come in."
If I knocked on a door of a friend or colleague and they said "yes," I'd take that to mean "yes, [come in.]"
If I were to knock on a door of someone who is more of a stranger and they said "yes," I'd take that to mean "yes, [who is it?]" and would identify myself and ask to come in.
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If completely unknown, then I may start off with "who is it?" before granting a "come in."
If I knocked on a door of a friend or colleague and they said "yes," I'd take that to mean "yes, [come in.]"
If I were to knock on a door of someone who is more of a stranger and they said "yes," I'd take that to mean "yes, [who is it?]" and would identify myself and ask to come in.