Hmmmm hate to say, but maybe you could put a little temporary Do Not Enter sign on your porch? Or maybe a Beware of Dog sign ?? Or maybe best to simply ask your neighbors to have the children play at their own homes w/a smile.
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Have a great evening!
Many times it is easier to change the way we look at things to accept people and their actions, rather than expect those around us to change. I am assuming you have spoken to the kids and parents..... If all else fails you could move.
Sounds like you've already spoken to the parents so, simplest answer, call the police, non emergency number and have them speak to the neighbor. The police can warn against trespass and if it persists, arrest.