When guests come I like to make sure that they have a space that is all their own.
If your guest room is a room solely dedicated to that purpose, that's great.
If you just have to put guests wherever they will fit, don't feel bad, you can still make it great.
The key to making guests feel at home is to give them their own space.
Make sure there are clean bedding (think extra blankets), towels, a clock, and maybe even some goodies.
We want our guests to feel at home. Tell them the "schedule" for the next morning. You know the deal, you're staying at someone's house. You have a nice cozy room all to yourself. You wake up and the house is QUIET. You're laying there thinking, "Okay....Do I get up? Are they out there being quiet because they think I'm sleeping?" 30 minutes later, "Ummmm, what time do these people get up?"
It doesn't have to be exact, just give them an idea of what to expect. What time does the house "wake up"? What's your plan for breakfast? When can they shower?
Let them know where to find food to eat. Set out food that they can eat. Again, think about what it's like when you're the guest. Think about what times you tend to get the munchies and set a variety of snacks out for them to eat (or not). Make sure that you give them no excuse for being hungry.
Whenever we have guests over I always try to tell them, "If you're hungry it's your own fault!" I want our guests to know that there is food to eat and I want them to eat it.
It's not a science. Being a good host is simply treating others as you would like to be treated.