Two years ago I had two nests under the eaves of my house just above the back deck: one was hornets and the other was of bees. Neither bothered me except that the “guard” bees at the nest entrance always came forward to check me out. They seemed to say, “Oh, it’s you.” Then went back to their posts.
Occasionally I would witness one of the bees going over to the hornet’s nest (about 12’ away) and literally being thrown off the “property”. Neither side was hostile, and it was amusing to see.
Indeed, bees do not compete for meat with hornets and they probably help keep intruders out. I have seen hornets attack wasp nests.