I believe that is generally referred to as companion planting.
See here for a good list:
en.wikipedia.org/wiki/List...ion_plants

I'd say the three sisters system is what you are looking for. Tried and true for damn sure! This is from the wikipedia article of that name:
en.wikipedia.org/wiki/Thre...riculture)


The Three Sisters are the three main agricultural crops of some Native American groups in North America: squash, maize, and climbing beans (typically tepary beans or common beans).

In one technique known as companion planting, the three crops are planted close together. Flat-topped mounds of soil are built for each cluster of crops. Each mound is about 30 cm (1 ft) high and 50 cm (20 in) wide, and several maize seeds are planted close together in the center of each mound. In parts of the Atlantic Northeast, rotten fish or eel are buried in the mound with the maize seeds, to act as additional fertilizer where the soil is poor.[1][2] When the maize is 15 cm (6 inches) tall, beans and squash are planted around the maize, alternating between beans and squash. Milpas are farms or gardens that employ companion planting on a larger scale.[3]

The three crops benefit from each other. The maize provides a structure for the beans to climb, eliminating the need for poles. The beans provide the nitrogen to the soil that the other plants utilize and the squash spreads along the ground, monopolizing the sunlight to prevent weeds. The squash leaves act as a "living mulch," creating a microclimate to retain moisture in the soil, and the prickly hairs of the vine deter pests.

Native Americans throughout North America are known for growing variations of three sister's gardens. The Anasazi are known for adopting this garden design in a more xeric environment.

I would not consider annual companions a permaculture guild, unless you were trying to establish self-propagating annual crop plants.

Or are you looking for permaculture guilds around/with which you could plant particular crop veggies? I know brassicas are frequently intercropped with alyssum for pest control... both are self-seeding annuals that perennialize in many climates.

i think guilds are meant to be more self sustaining. veggies can be added as a supplement to guilds to help them out now and again or for the guilds to help out the veggies, adopt them for a season