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You can use "printto" verb, but the AcroRd32.exe process remains at end
(you can add a timer or a thread to kill the process after the printing is done...)
Test without killing AcroRd32 process =>
PrintDialog printDialog1 = new PrintDialog();
if (printDialog1.ShowDialog() == DialogResult.OK)
{
Process p = new Process();
p.StartInfo.FileName = "e:\\test.pdf";
p.StartInfo.Verb = "printto";
p.StartInfo.Arguments = "\"" + printDialog1.PrinterSettings.PrinterName + "\"";
p.Start();
}