A family of Microsoft relational database management systems designed for ease of use.
Perhaps something like this:
DELETE * FROM GuardianAndContacts WHERE GuardianID NOT IN (SELECT DISTINCT GuardianID FROM Students_GuardianAndContacts)
That would remove all records from GuardianAndContacts where the GuardianID does not exist in Students_GuardianAndContacts.
Before trying out any Delete processes, be sure to make a backup of your database