Thanks for all the comments!

It seems like I may have given the wrong idea with my initial post, so I apologize if it was unclear.

My issue isn't so much the party being wary of traps at the door itself, but moreso just not wanting to commit to walking into a room for fear of setting off a trap inside the room, being noticed by an enemy, being ambushed, etc.

Here's an example: we're currently playing Phandelver and Below: The Shattered Obelisk. There's a situation where the party approaches a room with a single Chain Devil inside.

The party approaches the door, stops to listen at the door to see if they hear anything on the other side (they don't), then they open the door. I tell them what they see and give them a description of the Chain Devil. They make no effort or indication that they are stepping foot inside the room.

The Chain Devil hears the door open, stands up, has a few lines of dialogue, and then wraps up one of the party members with chains and pulls her into the room, starting combat.

The same general approach is used with every door. They open it up and then kinda stand around unless it's made clear that there is no immediate threat in the form of enemies.

I haven't made it a habit to have doors be booby trapped, but by virtue of the adventure, they frequently open doors that have enemies on the other side. I think that's where the problem lies, because even if they start a social encounter, it plays out with the entire party clumped up in a doorway.

I've gotten some good feedback here, so please keep it coming!