Guerrero was born in Tepic, Mexico. He came to California with the Hijar-Padres Colony in 1834, and settled in San Francisco, California (at the time called Yerba Buena). He was married to Josefa De Haro (daughter of Alcalde Francisco De Haro) and had five sons. He was the third Alcalde of Yerba Buena in 1836. Guerrero served again as the sixth Alcalde in 1839. In 1844, he was granted Rancho Corral de Tierra.
Guerrero was murdered by Francis LeBras in San Francisco, and is buried at Mission Dolores in San Francisco. Guerrero Street in San Francisco is named in his honor.