¡Llama a la puerta, por favor! < i'm fairly sure this is right, but i've never had much need to talk about knocking at doors...
Bata à porta, por favor! < same here. i could very well have this verb wrong.
Klopf an, bitte! < very new to german, so this was a LEO-guided guess
Please take off your shoes!
¡Quítate los zapatos, por favor!
Te quite os sapatos, por favor! < this one is driving me mad! i cannot find anything on imperatives in reflexive verbs in brasilian portuguese or where to put the pronoun
Zieh dich deine Schuhe aus, bitte! < another guess.
also, if anyone would like to throw in some more pairs in other languages/dialects (català, european portuguese, LATIN, etc), that would be cool ;)