Saying "Come." by itself isn't really said in English conversation. If it's used at all that way, it's to sound overly formal and serious, like a butler in a haunted house ("Come. I'll show you to your room.").
I never find myself saying "Come along" in conversation, although it shows up in song lyrics ("Come along, and ride on a fantastic voyage"). Most people just say "Let's go" rather than "Come along." Saying "come along" sounds old-fashioned.
The more common ways to phrase it are:
- Come over. "You want to come over? I got us a pizza." You only say this to mean "come over to where I'm at".
- Come on. "Come on, let's go!" "Come on, you gotta tell me what she said!"
- Come with me. "Come with me if you want some pizza."