I think the most natural way to say it would be, "I had my friends over" or "I invited my friends over." I think the first two of your examples (receiving and welcoming) are fine, but sound a bit formal.

All three are used in English today. I would also say in my home.

The Queen 'receives' visitors - most of us wouldn't use that term. Welcome friend TO your home, and have friends over, or have friends around are also possible.

Thanks for posting question!