YOU SAID:

the cats came into the house because they heard a noise outside

INTO JAPANESE

猫は家の外に騒音が聞こえたので家に来ました

BACK INTO ENGLISH

The cat came home because I heard noise outside the house

INTO JAPANESE

家の外で騒音が聞こえたので、猫は家に帰りました

BACK INTO ENGLISH

The cat went home because I heard noise outside the house

INTO JAPANESE

家の外で騒音が聞こえたので、猫は家に帰りました

BACK INTO ENGLISH

The cat went home because I heard noise outside the house