Anyone who says "Yes" obviously doesn't have cats that scratch at the door when you close them out (because they like to watch humans poop? )
My cats are big enough that they reach under the door and shake it.... and it sounds like a violent intruder trying to break into your room and kill you.
Door closed, lived too many years in the barracks, I even use the guest bathroom because I prefer smaller, non-open spaces. Most of our bathrooms growing up were tucked in behind the shower wall.
I frequently leave the door open even when they are home, though generally only if they're all upstairs and I'm downstairs, which is frequently the case. Yes, sometimes one of the dogs or the cat keeps me company.