In Destiny you can alter your Fireteam Privacy settings, allowing anyone to simply interact with your character and join your fireteam, without you needing a friend request, or close you fireteam so you can play in private which is great if you're making a video. Above is a quick guide I have put together and written up on my website http://www.destiny.exposed/knowledgebase/fireteam-privacy-settings/ Hopefully this will help people change their settings to meet their requirements and allow more people to join together in quick fireteams.