You can do this two ways:
1. Allow them to create a “post” on your site
2. Allow them to comment on a “post” on your site
Option 1
They are being given a higher level of user access to the site, at least “contributor”, rather than say “subscriber”.
Option 2
You can allow people to comment without being registered users, or even providing a name and email address. But things will get messy.
You will need to read the instructions for WordPress to find these settings for new users, and or commenters. Good luck!