First and foremost, clear some of your stuff from the closet, so guests can hang their clothes and store their shoes out of sight. Also clean out at least a couple of drawers from a dresser for visitors to stow their socks and t-shirts.
Think about where people can put their suitcases or sit to put on shoes and socks. A bench at the foot of the bed is perfect.
If there’s enough space in your guest room, set up a sitting area with a cozy chair or two, good lighting, and a small table.