Come is used for (1) movement towards the place where the speaker is, was, or intends to be (Move toward, travel toward something or somebody or approach something or somebody), or towards the person being talked about: ‘Come down here!’ ‘Come and look at this.’ ‘Why didn’t he come to see me?’  (2)Reach or arrive: ‘He was just about to go out when his wife came into the office in tears.’ ‘She came home at 7 o’clock.’
Go is used for movement from a place into another direction: ‘I wish those noisy children would go away.’ ‘Let’s go to London for a few days.’