"Kami pulang" = "We return", "Kami pulang ke rumah" = "We return home"
We can say "return" to the initial point, doesn't always mean "return" home
My wife has explained to me very clearly that "pulang" is the act of travelling back to somewhere that you consider to be "home" This can be your permanent address, or could be the home of a close family member if you're visiting another town for a few days, but generally wouldn't be a hotel room or something like that.
It also refers to the act of travelling home, not arriving home. So if you had an hour long commute and you've just opened your front door, you've been "pulang"ing for the past hour, rather than have just "pulang"ed this minute.