Can souls of our dead relatives come around us?

Human’s compound is made of  soul and  body. Soul, uses the body as its home. When he or she sleeps, it leaves the body and when he or she wakes up , it returns to the body. Dead person’s body is like wreckage of a house;  the soul cannot return to it until it is recreated. As this verse explains:

“Allah takes the souls at the time of their death, and those that die not during their sleep; then He withholds those on whom He has passed the decree of death and sends the others back for an appointed term; most surely there are signs in this for people who reflect.”    (Az-Zumar/ The Companies 39:42)

Sleeping and dying are the functions of body. Soul does not die or sleep. It is mentioned in Holy Qur’an that the soul will give a speech after it leaves its dead body behind:
When death comes to one of them, he says: Send me back, my Lord, send me back; haply I may do righteous deeds in that (world) which I have left. Never! It is but a (mere) word he speaks; and behind them is a barrier until the day they are resurrected.” (Al- Mu’minoon/ The Believers 23:99-100)

There is no statement about the souls returning to this world or visiting us in these verses. Allah clearly expresses that He retains dead people’s souls and sets a barrier between them and this world to prevent them from returning.

Fort details about death and sleep see the following article:

Relation Between Sleep and Death