Do guardians get paid?

Maybe. For a guardian to receive payment it must be submitted to and approved by a judge. This can be done in the original guardianship paperwork and during the initial guardianship hearing or it can be done separately at a later time.

If you mean a true guardian as ordered by a court then the court documents should include the payment allowable.
If you mean a POA then it depends, many POA documents expressly forbid payment but others do not.