It wouldn't be considered rude if you don't invite unexpected guests in. I would probably chat a few sentences and then decide if it's going to be longer talk and I'd rather sit comfortably with a nice neighbor (in which case I invite him in) or if it's a conversation I'd rather keep short or is short by nature (like when to take the garbage out or such) than that can be discussed at the door.
But this is just my preference as I'm an introvert and don't even like unexpected friends in my house 😅. If you're an open and sociable guy by all means invite them in and offer sonething to drink, you'll be regarded as a friendly person.
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