The short answer is that if the person is not part of your household you should NOT visit them. We know that people can carry the virus and pass it on to other people WITHOUT having any symptoms so contact with them can pass along the virus without either person knowing. The less interactions we have with people, the less the virus will be transmitted.
Click here to see a graphic informed by University of California Assistant Professor Dr. Robert A.J. Signer and Art Director Gary Warshaw.
As of May/June 2020, the concept of having a "Social Bubble" has also emerged, here is a link to learn more about this approach: https://www.healthing.ca/diseases-and-conditions/coronavirus/how-do-you.