In my opinion, this is when one of the "pre-KISS-style" rules might actually make more sense, at least to think about initially. Here is an example of that paradigm, which I shamelessly stole from the docs:
For comparison, the "new" paradigm for this would look something like:
Trigger events: Motion active
Actions:
On: Kitchen
Cancel Delayed Actions
Wait for events: Motion inactive
Off: Kitchen --> delay 0:02:00 (cancelable)
No matter how you write it, the key to what you want is the "Cancel Delayed Actions" step. Without it, the scheduled job the delay creates (to continue with the remaining actions when the timer expires) will remain, no matter how many times the rule triggers in the meantime. This does not apply to "Wait" actions, which are effectively cancelled any time the rule triggers, so if you wanted the lights to turn off immediately when motion became inactive above instead of after 2 minutes, this would do and is indeed simpler:
Trigger events: Motion active
Actions:
On: Kitchen
Wait for events: Motion inactive
Off: Kitchen
When you start adding more, then I'm not sure anymore. 
But either style would get you the same outcome.
For your rule, I'd consider one of two options. One is rewriting to use the "changed" trigger from the original paradigm above, something like this:
Trigger: Door changed
Actions:
IF (Door is open) THEN
Delay 0:10:00 (cancelable)
Notify "door open"
Wait for event: Door closed
Notify "door closed, thanks"
ELSE
Cancel Delayed Actions
END-IF
If you wanted to use the "new" paradigm, one awkward way to make this work would be:
Trigger: Door closed
Actions:
IF (Private Boolean is False) THEN
Notify "door closed, thanks"
Set Private Boolean True
END-IF
Cancel Delayed Actions
Wait for event: door opened
Delay 0:10:00 (cancelable)
Set Private Boolean False
Notify "door open"
Note that it counter-intuitively triggers on door closing and adds Private Boolean to track whether the rule notified about the door, all while using more actions than the style of rule it was suggested to replace. Perhaps someone can figure out a way to do this triggering on opening, but I might suggest the "old" way here instead.
