Like everyone says, it depends on the bees' demeanor. I have a hive that I simply called "bees from hell." I have a small video of myself wearing nothing but a pair of shorts and a smile, lifting a frame of these same bees and commenting that they've started drawing out the comb. A week later, I got into the brood nest and they took offense to the point I couldn't walk across the barnyard without getting attacked.
I split that hive and added a queen from a source that claimed he, "Never worked the bees with smoke." And I can attest to their being really nice bees. When one of them gets defensive, she will bump me over and over without stinging (which I hate having happen because she will eventually sting, and then lose her life. I have to smack and crush her to avoid getting stung.). These bees also like to land on me to lick my sweat.
I have a chair I set on the side of the hive, close to the entrance. I know that because of the above reasons the bees can change, look at you and decide you're a threat. I can go without a sting for months, then I get stung once or twice a day until they settle down, a few days later. But, I'm always in sight of the guard bees or sticking my nose in where it doesn't really belong.
There are things you can do that may ruin the aesthetics. Place the hives 10 feet in the air, turn the entrances away from the pedestrian traffic, put up a fence so they have to fly up before they fly out. The main solution is to keep the highly defensive guard bees who hang around the entrances from seeing what their little insect minds think is a threat to the hive.
As for distance from the hive, you can see from what I've written I'm not going to be much help. I've always walked right next, in front of, or stand and work within 3 meters of the entrances, except for the neurotic ones, which I find are fairly calm again, out in the woods...