Hello, Anhnha:
1. I think that "anticipatory there" and "preparatory there" are only terms that some authors have made up. As you know, "to anticipate" means something like "expect": They anticipate huge crowds of teenagers tomorrow when the new shoes go on sale; so the "there" anticipates (expects) the true subject to come along very soon; preparatory "there" prepares us to get ready for the subject.
2. I know that you want me to be courteous but HONEST.
a. So I absolutely would NOT recommend your using those two sentences that you prefer.
i. If you said, "It is he who makes the way safe without a guard being," that would sound very strange to a native speaker.
(a) I would choose either original sentence or possibly "It is he who makes the way safe without a guard being there."
REMEMBER: That "there" is a real adverb. It equals "in that location."
The bottom line: I think that you should stick with the original sentence of "It is he who makes the way safe without there [expletive] being a guard." That's nice English that you want to get used to.
In everyday conversation, I would follow Tarheel's excellent interpretation and say something like:
"He's the one who makes the way safe even though there is no guard."
James