We define virtue as a good used to achieve the goal of pleasure, and we recognize virtuous behavior as acting "practically, properly, and peaceably" (KD5). Practicing these virtues requires choice and avoidance, like avoiding things that lead to guilt, so avoiding guilt is definitely virtuous because it is a choice made to reduce pain and maximize pleasure, which is the goal of life.
The underlined part of this quote is, for me, the key point. Guilt is experienced as pain. In evaluating the pleasures v the pains in any particular activity, if there is the potential for feeling guilt we would need to include that in our analysis.
VS71: Ask this question of every desire: what will happen to me if the object of desire is achieved, and what if not?