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I think everything is correct; you defeated one of the guards, so you can proceed.
I once played a game where the guards were positioned so far away that they were actually on my respawn point. It was funny because they were supposed to be guarding a road, but they were on the other side of a mountain. However, there were still guards on the road, so we continued playing as usual, and we ended up attacking the wrong guards. But everything worked out fine.