I just want to add some clarifications to what Philip explained.
When you first design an xfa based form (xdp), you use the LC Form Designer. At that point you create and XDP and LC Forms can render that XDP into PDF or HTML (or other transformations).
Now with LC Designer ES, you have a new menu that allows you to generate a Form Guide for that XDP. The Guide Builder is a plug-in written in Flex that helps you design your Guide.
It creates a basic Form Guide that you can customize. Once you save the Form Guide, it adds a little bit of information in the XDP to tell LC Forms that the form can be generated as a Form Guide.
So the things I wanted to clarify, is yes, you can generate a PDF, HTML or Form Guide from the same XDP template. You do need to "Guide Enable it" by creating a form guide within the form designer.
Because a Form Guide is built from an XDP within the Form Designer, you'll always have a PDF representation of that guide which comes from that XDP.
Both format Form Guide and XDP are sharing the same data model and some of the same logics (some script, validations, mandatory fields, etc).
Jasmin