if you are driving to the Blue Mountains and spending a day there, you won't need a guide / tour operator.
Have a look at my post #1 in the link below - I've provided lots of links there which are of relevance to the sites and sights you can see.
You can go further afield with a car to Blackheath and to the Blue Mountains Botanic Gardens which I think are terrific.
Here's a couple more links for you
As for hotels ... it's been a while since I stayed in any hotels in the BM ... have you checked the reviews on TA ?
With a car and your ability to go beyond Katoomba or Leura, look for hotels in Katoomba, Leura, Wentworth Falls, Blackheath, Mt Victoria
Wentworth Falls is only a few minutes from Katoomba and Leura, while Blackheath and Mt Victoria about about 15 mins or so west of Katoomba.
Check back with the forum before booking and ask specific questions about accommodation as others may have more up to date information than the reviews.