One way to solve this is with constraint programming - the Wikipedia article provides links for several constraint programming languages and libraries. Here is a paper describing how to use constraint programming to solve scheduling problems.
Another option is to use a greedy algorithm to find a (possibly invalid) solution, and to then use local search to make the invalid solution valid, or else to improve the sub-optimal greedy solution. For example, start by assigning each lifeguard their preferred hours, which will result in too many guards being scheduled for some slots and will also result in some guards being assigned a ridiculous number of hours; then use local search to un-assign the guards with the most hours from the slots that have too many guards assigned.