If I understand your question correct you are asking if come and go with these phrasal verbs work the same as you would normally use come and go. The answer is yes. Come round - you come to me.
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Anonymous Recently, I have been learning phrasal verbs, studying 'English Phrasal Verbs in Use Intermediate' (published by Cambridge University Press).
In the book, I came across the sentence
1. 'My cousin has asked me to go over to his flat this morning.'
The book says that the particle 'round' could replace 'over' with no change in mean