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The short answer is yes, the officer may knock on the door. There is nothing wrong with that. Then, if you grant them access, they may come in. Then, if you "give yourselves up" they can search. If you show them the beer, then they don't need to. "Almost certain no one saw us" is a recipe for disaster. As to what you should do at court, that is harder to answer. Based on the facts you offer there is little to work with, but you might have an argument for suppression of the evidence/your statements based on the circumstances of the contact, but that would require a more extensive analysis. And its probably pretty thin. You did not indicate what jurisdiction you are in, but these are not serious cases, and you will probably get a fine, if that.
I hope this helps.