Try this sample SQL scripts for easy understanding,
CREATE TABLE TABLE1 (REFNO VARCHAR(10))
CREATE TABLE TABLE2 (REFNO VARCHAR(10))
--TRUNCATE TABLE TABLE1
--TRUNCATE TABLE TABLE2
INSERT INTO TABLE1 SELECT 'TEST_NAME'
INSERT INTO TABLE1 SELECT 'KUMAR'
INSERT INTO TABLE1 SELECT 'SIVA'
INSERT INTO TABLE1 SELECT 'SUSHANT'
INSERT INTO TABLE2 SELECT 'KUMAR'
INSERT INTO TABLE2 SELECT 'SIVA'
INSERT INTO TABLE2 SELECT 'SUSHANT'
SELECT * FROM TABLE1
SELECT * FROM TABLE2
DELETE T1 FROM TABLE1 T1 JOIN TABLE2 T2 ON T1.REFNO = T2.REFNO
Your case is:
DELETE pgc
FROM guide_category pgc
LEFT JOIN guide g
ON g.id_guide = gc.id_guide
WHERE g.id_guide IS NULL