This study explores the role of proximity zones in human–robot interaction (HRI), with a focus on the safety and comfort of people. It compares Edward T. Hall’s traditional proximity zones with a new approach using golden ratio-based zones to define the dynamic social space between humans and robots. Hall’s model, widely used in human–human interaction, categorizes zones into intimate, personal, social, and public zones but can be inflexible in dynamic human–robot environments. The proposed golden ratio-based model offers a fluid and adaptive approach that could better match natural human behaviour by incrementally adjusting proximity zones based on interaction context and relative motion combined with available robot safety ISO standards. The goal of this study is to develop a framework that ensures both human safety and comfort in HRI and allows robots to move in a shared environment without causing discomfort. Future work will focus on testing this golden ratio-based approach through experimental studies, as the concept remains theoretical. Practical tests in public space environments will measure the effectiveness of this model in improving the dynamics of human–robot interaction.