Okay apparently it was a minor glitch I closed the game and reloaded it and then it told me about the use icon and let me open the door. The first time it wouldn't say anything but go in here nothing popped up on the screen so thanks.
it happened to me too actually, several times. even when i already close the door, the icon won't show up, so i have to move backward and forward several times, approach the door from different angles, etc. eventually, the icon showed up :) i rarely have to reload, especially since the game just started and i never bothered to save my game that early.