I agree. Because of the question mark it makes more sense that it means - "are you coming to us?," although intonation is really make it or break it here.

More or less: With a question mark, it’s a question. With an exclamation point, it’s an imperative. The reason is that inversion is used for forming questions, and also for the imperative with “Sie” (but not with “du”). In the spoken language, intonation and context would clarify the meaning. Btw, a better translation into idiomatic English would usually be "are you coming to visit us" or “come visit us.”