Or, to add to Peachey, you could make your expression (and the work of translating) simpler, by making two sentences. So the time comes at the end of the first sentence. "We had a guest yesterday. He [or she, or Name of person] came to dinner." One sentence, one thought or piece of information. Short sentences are good. In good writing as you go on with learning, short sentences between long sentences make writing interesting. Take this example of putting ideas in separate sentences: "I am 69. You say 'So old!'. Yes, I agree. It sounds terrible. It is terrible when my bones ache, but in my heart I feel young, which is the most important thing." Long and short...

Omit the "a" in front of "dinner" and you're okay.

Not quite there, sorry. You give all the right information, but the order is slightly off. "We had a guest come to have dinner with us yesterday." By putting "yesterday" in the middle of the sentence, you've broken the order in which a reader normally anticipates the information. Distracting. Times usually come at the end of the sentence, or moved to the beginning (use a comma if you do this: "Yesterday, we had...").

good