I thought "Kommen sie hier" meant come here. How would you say that auf Deutsch?
"Kommen Sie her" means come here (more informal would be "Komm her")
But "Komm(t) auf uns" means exactly what I wrote earlier. Not pulling anyone's leg at all.
The literal translation for "come to me" would be "komm(t) zu mir" while "come to us" tranlates to "komm(t) zu uns"
The best translation for "come at us" in the context of that propaganda poster would have been something like "Kommt nur (her)!" (the "her" can be dropped)