Do you have locks on your doors? If so therein lies the answer.
Simply dont provide your 6 year old with a key, everytime he knocks you or your wife stop his friends at the front door.
If he keeps coming and going you lay down the law to him as is your parental right & emphasise that he is either in or out.
If your neighbours kids go into your yard when they arent supposed to you shout in a loud voice and tell them to piss off. If you cant bring yourself to do that then let them play there & be grateful they arent going to be coming into your office unannounced.
Then consider a big fucking fence & gate arrangement....
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