Yes. Under EPUB2 the OPF guide stores the semantic information. Under EPUB3, semantic landmarks are stored in the Nav in the nav landmarks. It can also be used to highlight code and tags themselves using epub:type attributes, and a guide is allowed for backwards compatibility in EPUB3. Also things like cover-image and remote resources, and other structural information is stored in the OPF in the manifest properties for EPUB3.
So saying the semantic information is stored in the OPF for epub2 and in the Nav and the OPF in EPUB3 would be correct.
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