The fighting took place in the district of Kourin, near the Pakistani border, killing 3 three Guard members and at least 6 bandits.
Iran says its navy warned US vessels to stop "provocative and aimless shooting".
Confrontation comes amid talks in Vienna between Iran and major powers on the mechanics of a US return to a landmark 2015 nuclear deal abandoned by then-president Donald Trump.
In a leaked audio tape, Foreign Minister Mohammad Javad Zarif complains the elite Revolutionary Guard had more influence in foreign affairs and the country's nuclear dossier than him.
Iran claims to have missiles that can travel 2,000 kilometres, placing much of the Middle East, including Israel, within range.
Iranian social media has been awash with criticism of new music video by popular underground Iranian singer, “Sasy,” who over the years has become known for contentious lyrics that Iran's conservatives see as tainting the country's moral probity.
General Hossein Salami says Tehran will avenge the death of General Qasem Soleimani, who was killed in a US drone strike earlier this year.
Iran asked Interpol to issue a "red notice" for Trump and the other individuals the Islamic Republic accuses of taking part in the January killing of General Qassem Soleimani.
Tehran says US President Trump's decision on elite Revolutionary Guard "illegal," declares US a "state sponsor of terrorism."
Jaish al Adl militant group claimed responsibility for the roadside bomb attack against Iran's revolutionary guards in which several others were also wounded.
Iran's Revolutionary Guard says the nation and its security forces ended the wave of unrest linked to anti-government protests that erupted on December 28.
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