Learn English – Usage question: “to come at someone” vs “to approach someone”

If a man is drowning in the water then he should have faith / hope that somebody will come and save him.

If this man has a strong hope that somebody will save him, he still allows for the possibility that nobody will do. He is very hopeful, but he's still only hoping. If he suddenly feels some doubts about his hope, he may dwell on these doubts, because hope does not forbid it.

If this man has a strong faith that somebody will save him, he refuses to admit even the possibility that nobody will do. He may feel some doubts deep inside but he will suppress such doubts with all his willpower, because he has faith. Entertaining doubts would be a betrayal of his faith.

Hope is often based on mundane inferences: "I read in newspapers about drowning people being saved. I know that there are boats often crossing this part of the river (lake, ocean)."

Faith is often based on the supernatural: "I have a guardian angel, he will make some fishermen notice me and hurry to the rescue."

P.S. This is really a philosophical question. You might try asking it at (on?) Philosophy Stack Exchange.

The English use of come and go is a little different from other languages. In English you first establish a point of view and evaluate direction from there. So, for example, if I imagine I am already at the party, I would say:

Are you coming to the party tonight?

However if I am at home, I would instead say:

Are you going to the party tonight?

This can get complicated if we include another person in the sentence. In this case you can consider the point of view of that person:

Sharon asks if we are coming to her party tonight.

or

Sharon would like to go to the party with us tonight.

All of this is separate from your question of inclusion or kindness. Either way can be inclusive or kind, since that depends a more on other factors like context, intonation, permission, etc.

Please, I really would like for you to go to the party with me (inclusive and polite)

Hey, let me come to the party with you. (exclusive -- since I've been previous excluded -- and less polite)