It may be better while you are singing to not make corrections, but it is good for a speaker (including at a podium) to "make it right" and not be careless. Read this article for some suggestions.
Realize that "go there/go here" do not have the same meanings and again neither do "come here/come there". You probably know this, but if not, then understanding this is pretty easy in some situations. You might consider saying: "You can come with me." -- or "I will go with you."
Identify the direction of travel. Both of these phrases refer to a person changing location.
Say, "They should come here." Directed to/toward the speaker's location. "Come in first. Please, come here. Come inside the house, please -- and then we'll discuss what to do next," while calling someone "to/toward" the speaker. Thus, if the direction will be to or toward the speaker, the speaker should use "come".
Say "Go away from me." (not toward the speaker). For example, you can say: "You could go over there." or "I could go to their house. Should I go pick them up or will you?", when calling a friend about a visit to a third person's house. The direction is away from the speaker's location, so use the word "go." "Should we go to their house to eat or not? Either way we can go to their house." As the current location spoken of is neither the speaker's nor the listener's present location, use "go".
Correct yourself instantly without repeating the whole sentence, when you make a mistake. If you do this you will find it easier each subsequent time. For example: "I'll come..." "I'll go to their house." If you are interested in correct usage, then plan the wording a little as you speak (or before).
Search for some more examples on the internet.
Be persistent. Keep thinking about using these words and practicing. It will take time to change your habits; so don't be impatient with yourself if you regress or seem slow to change.
Ask for permission, which is slightly different. When the speaker is outside and the listener is inside, ask: "May I come into your house to the bathroom?" -- to move toward the listener. When both of you are outside, ask: "May I go inside your house to the bathroom?" -- moving away from the listener.
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