"And when they see them," meaning they see the companions of the Prophet [peace be upon him], "they say, 'Indeed, those are surely misguided,'" because they abandon their desires in this world.
﴿وَإِذا رَأَوْهُمْ﴾ رَأَوْا أَصْحَابَ النَّبِيِّ [ﷺ] ﴿قَالُوا إِن هَؤُلَاءِ لضالون﴾ يتركون شهواتهم فِي الدُّنْيَا.