Looking again with the sound off, your dog is showing a range of calming signals...
Look at the situation from her point of view. The kitchen seems to be where she is expected to chill out - 2 important people approach the entrance, and rather than coming in to see her, they stand at the doorway and look straight at her (intimidating for a dog) - she approaches, then backs off, then approaches again (I think this is when you speak), barks, play-bows, averts her gaze, walks away... that's not aggression... it's frustration and an attempt to divert your attention.