How should I walk up the stairs from 2-4 a.m.?

There are light sleepers upstairs who go to bed at 11:00 p.m. My bedroom is also upstairs but I stay downstairs on the couch until about 3 a.m.

If I walk slowly up the steps and try not to make noise but they hear me, they might think a robber is sneaking upstairs and get scared.

If I walk normally up the stairs, it will be loud and they still may wake up, but they’ll know it’s me and not be frightened because robbers sneak so you don’t hear them.

None of this would actually happen in my situation (because nobody would even wake up lol), but I do have to climb a set of stairs before bed and there are people in another room, so I thought I’d ask how you would perceive my stairwalking if you were the “upstairs sleepers”?