At home, you welcome guest, you dont have to use yokoso or
irrashimase.
you can just say Kitai ( do you want to come in) more formal.. its
not nercessary to say yokoso..
yokoro is when someone your friend/relatives visits you
(e.g) your friend is from osaka and you live in tokyo. when ur
friend comes to tokyo, you can say to him/her (Yokoso) = welcome to
Tokyo.

Irrashimase is when you enter to a japanese restaurant, the working
staff there will greet you irrashimase = ( welcome in ) a warm
polite gesture. hope you understand..
oh ya guys, i be going out now.. i probarly be back later. do wait
for me ya..
take care keii, tamago, monkeybusiness, popikachu, galfriend ,
everyone..