どこ Where
ここ Here
そこ There(Your place)
あそこ There(Outside the two persons' area)
Yes, it is true that these expressions can only be used in indicating places.
If you wish to express, "xx is here", you can say
xxさんはここにいます。
Even if you hear people say orally,
ここです。
(I'm)here.
It doesn't mean that ここ becomes the substitute expression of the person. That is, it is not indicating a person.
どちら
こちら
そちら
あちら
It is true that they can be used to indicate directions, places or people.
For example:
すみませんが、どちら様でしょうか?
Excuse me, who are you?
This is indicating a person.
Please note that these expressions are polite forms.