I think when it comes to discussions about aliens actually having visited earth, recent discussions put forth by Stephen Hawking in the last few years make it actually less likely. Considering the fact that evolutionary process is basically the same in any corner of this universe, would indicate that all "life" operates under the same basic principles. Consume, reproduce, evolve. With evolution being a constant battle to survive, would indicate that practically all life is "hardwired" to do what it can to survive. Our resources will run out one day and we will have to get off this planet and expand or see human civilization wane. This will be the same for any other civilization. It is reasonably safe to assume that the need for new resources is the primary motivating factor for any species to leave it's planet.
Mr Hawking has put it all together by stating that if something did come and visit us, it would likely be looking for resources, and anything advanced enough to cross the void, could easily wipe us from the face of the earth without much effort. The fact that we are still here suggests strongly that nothing has visited us. As he put it, the history of our own planet is bloody and violent when an advanced culture came into contact with a less advanced one. It hardly ever ended well for the less advanced culture, and this is amongst creatures with an indentical genetic structure from the same species.
Something tells me that the happy-go-lucky hippy age scientists that released the Voyager probes with directions to our planet in the seventies, are having severe second thoughts these days. As a species we are not ready to face anything that can travel the void and that as soon as we can develop an FTL travel method that we go out and retrieve those damn probes!