Custom taxonomy term as class?

I’m trying to add a class to a container within a query, ideally I’d like to use the terms from a custom taxonomy I have setup (guide-categories).

As an example:

<div class="myclass *taxonomy term*">
  -content-
</div>

Any help would be much appreciated, been looking around trying to find out how to do this for a while, but haven’t had any luck yet!