The PDF has images to help the user fill out correctly

is there a way to let the user fill out the forms on the actual PDF instead of a separate form entirely?

Are you referring to this form: https://www.jotform.com/203465992211051?

If yes, you want your users to fill up directly on your imported PDF. Is that correct?

If yes, sorry, but that is not possible. They will be able to fill up the online form fields and the data can be shown on your original PDF after submission.

You can include the same images on your online form as well - which I can see that you have already done.