If I can see enough, either through the livingroom or bedroom windows, or through the peephole, to assure me that the person is likely OK, I'll open cautiously -- i.e. on the hasp. Other than that, I'd better be expecting you. Friends/family know there's no parking in front of the house, and come to the back, where they are quite visible.
Are you paranoid? Nope. There's such a lot of home invasion and such these days that you need to make a conscious decision as to what level of precaution is appropriate in your situation and then just do it, without apology.
Are you paranoid? Nope. There's such a lot of home invasion and such these days that you need to make a conscious decision as to what level of precaution is appropriate in your situation and then just do it, without apology.