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Scientists have proven that it's impossible to go faster than the speed of light. So unless the aliens are able to travel for thousands, maybe millions of years, it's not possible for them to reach us according to our scientific system.
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You seem to have got confused on this point, if you travel at a reasonable percentage of light speed, lets say 1/3rd light speed then travelling between the stars may take decades. It's only thousands of years using our current space vehicle technology but that doesn't in anyway represent the maximum speed possible. We already have theories and designs for drives that can travel much faster. It's like someone from medieval times who travelled from village to village in a cart that did 3 mph trying to understand jet planes travelling at mach 2. We may be limited by the speed of light but that still makes travelling between the stars possible in a single generation. There is quite a cluster of stars within a short range of us. There's over 50 stars within 16 light years of the sun and 9 within 10 light years away and each time you increase the distance of light years you get exponentially more stars. We have plenty to explore within our local area.
The point is it takes us decades to explore our own solar system now but perhaps in 100-200 years that will be true of nearby stars.
