While nobody expects or wants a fire in their home, unfortunately they happen and an escape plan should be created and practiced to make sure you and your family is as safe as possible. They don't always have to be doors, plan how to get out of windows on both the first and second floors. Do not go back into the house. Test doors for heat before opening them. Close doors behind you.
Closed doors are good protection from heat and smoke.
Heat and smoke build from the ceiling down. The closer to the floor you are, the cooler it will be and the less smoke there will be.