The Doorman seems to only be mean to those that are not members of the location in the ship. But to other members, he is calm and welcoming to members and their friends.
On Sora's TeamEdit
When Sora and Seina Yamada revisited the GP, N.B. asked Sora for errands due to Seina already did them once, but as Sora continued with the arrands in a hurry, the Doorman says that he is always welcome.