If you want to be polite or neutral and if you want to say something like "Please go away from my house" it's "Отойдите/Уйдите от моего дома, пожалуйста" (if they are nearby your house, outside) or "Уйдите из моего дома, пожалуйста" is they are inside (note the difference between prepositions "от" and "из").

If you are a little more irritated AND if you do want to use the verb derived from "убирать" the perfectly natural choice will be:
"(Сейчас же/Немедленно) Убирайтесь из моего дома!" = "Get away from my house (right now/immediately)!"

Убирайтесь - plural or formal, убирайся - singular. Infinitive - убираться
"Убираться" is a reflexive verb (Reflexive Verbs), and it's the closest equivalent to English "убирать себя" (two words mended into one).