it's like a world wherein Espers are the stronger ones who fight off monsters from the occasional dungeons that open up in particular areas to make sure the normal human beings are safe. While they are the stronger ones, they also need guidence to keep them sane, which is provided by their particular 'Guide', the ones that aren't that well versed in combat. They provide the Espers guiding (which is basically just sex, but physical touch can also suffice, sex just has a stronger and more lasting effect on the Esper.) There are also levels, like the lowest class Esper/Guide is F-class, and the strongest is SSS-Class. Though, as this concept is wholly imaginative, some things can vary from one Author to another author's. If you're aware of Omegaverse, it's somewhat similar to it. Like Omegaverse has Sub/Dom Alpha/Omega types, ykwim?
I hope what i said made sense lol
What in the world is GUIDEVERSE?? And ESPER and GUIDE?? Please someone come to my rescue