I think this is the best/only way of doing it. NPC's will go through a door with you if they are addressing you.
Yes, it also works if you want to "lure" someone into your house in order to "dispose" of them without the guards noticing. With one of my first characters I lured Nazeem and the "guy who works for Belethor" into Breezehome, killed them, and placed them on the two chairs facing the fire pit. I would laugh my ass each time I entered the house as they would greet me... silently.
"Do you ever go to the Cloud District? What am I saying, of course you don't, you're dead, in my living room."
Be aware that the corpses will stay there forever so only do something like this if you really want corpses in your house. My main house was Markarth at the time so I didn't mind.