Come with me - Ven conmigo (informal) - venga (formal)
Ven conmigo mi amor, quiero estar contigo para siempre. - Come with me my love, I want to be with you forever.
Señor González, venga conmigo, por favor. - Mister Gonzalez, come with me, please.
There are options with:
Ven A mi - Come TO me (informal)
Venga A mi - Come TO me (formal)
However, we almost never use it. Usually we would say: Ven or venga.
I hope this was helpful.
If you have any questions more, feel free to ask me.
Have a nice day.