It is rude to visit someone without asking first.
Joe is driving on the other side of town where his friend Hilda lives.
Joe wants to visit Hilda.
Joe calls Hilda and asks if it is okay to stop for a visit.
Joe stops by Hilda's house unannounced and barges into her home.
Hilda meets Joe at the door, and they have a great visit.
Hilda is annoyed with Joe because she was not in the mood for company.