You haven’t brought age and maturity into this discussion and it’s a big piece of info on scaling the answer. 14 no. 17 possibly.
Secondly there is the other minor to consider. As a parent it is my job to ensure the visiting minor is safe and comfortable so even if my child wants the door closed and I trust them it could still be a no.
There are so many variables here. It’s never a simple yes I would or no I wouldn’t. It’s a parents job to read the room in the literal sense here. You are a parent first before you are a friend and sometimes that goes against a child’s wants in the moment.