Each Guardian Spirit will have a different type brute, feral and phantom. These are indicated by the colour and symbol when you look at all the Guardian Spirits you have obtained.
In order to do a counter, you need to press
+
when the enemy is doing a Burst Attack. The Burst Attack is very obvious, they glow red and it is a long charged attack.
Time it right to counter them, and then do this x5 times with the 3 types and the trophy will unlock!