Can a CPS worker come in my home if I am not at home or if I don't answer the door?

I was getting out of the shower as I heard knocking at my door. I then heard my door open and footsteps, I grabbed a towel and darted in my bedroom. My dogs were scared so they started barking. They never bark when someone comes into our home that they are familiar with. I hear a voice say "Whoa boy" or something like that I’m not sure on the exact words because I was scared to death, then I hear "She must be sleeping". I was scared to death I did not recognize the man's voice so I hid next to my bed. After they left I found a CPS card on my coffee table right outside of my bedroom. The worker came back two days later while I was at work and my husband was home. He asked to enter our home and my husband said no. He then asked him why he came in our house two days earlier because he had scared me and I was naked getting out of the shower. He completely lied and said he never did, said that he just put a card in our door. He even pointed at one of our dogs as he was leaving and said "that one doesn't bark". That was the one thing he told the truth about because that dog doesn't, but the other two do, especially when they are frightened or a stranger comes in the house. What should I do, I am at a loss. We live in a small community and I've always heard bad stories about this man and now I've seen first-hand that he is capable of lying and now wonder what else he is capable of.