The video tweeted and later deleted by the semi-official Fars news agency comes as Iran's Supreme Leader Ayatollah Ali Khamenei blamed Riyadh and Abu Dhabi for the attack in the city of Ahvaz on Saturday, which killed at least 25 people and wounded over 60.
The threat amplifies the unease felt across the greater Persian Gulf, which is seeing Iran's economy upended in the wake of America's withdrawal from Tehran's nuclear deal with world powers and Saudi and Emirati forces bogged down in their yearslong war in Yemen.
Meanwhile, Iranian officials on Tuesday identified the five men who carried out the parade attack, which authorities have blamed on Arab separatists. At least two of the men identified have appeared in a video distributed by the Islamic State group in its own claim of responsibility for the Ahvaz attack. This further complicates the process of determining who exactly was behind the assault.
The Fars video shows file footage of previous ballistic missile attacks launched by the Guard, then a graphic of a sniper rifle scope homing in on Abu Dhabi in the United Arab Emirates and Riyadh in Saudi Arabia.
"The era of the hit-and-run has expired," Khamenei's voice is heard in the video, the segment taken from an April speech by the supreme leader. "A heavy punishment is underway."
Iran has fired its ballistic missiles twice in anger in recent years. In 2017, responding to an Islamic State attack on Tehran, the Guard fired missiles striking targets in Syria. Then, earlier this month, it launched a strike on a meeting of Iranian Kurdish separatists in northern Iraq.
The Guard, a paramilitary force answerable only to Khamenei, has sole control over Iran's ballistic missile program.
Under Khamenei's orders, Iran now limits its ballistic missiles to a range of 2,000 kilometers (1,240 miles), which gives Tehran the range to strike Israel, Gulf countries like Saudi Arabia and the UAE, as well as regional American military bases.
Saturday's attack targeted one of many parades in Iran marking the start of the country's long 1980s war with Iraq, part of a commemoration known as "Sacred Defense Week." Militants disguised as soldiers opened fire as rows of troops marched past officials in Ahvaz.
Arab separatists in the region claimed the attack and Iranian officials have blamed them for the assault. The separatists accuse Iran's Persian-dominated government of discriminating against its ethnic Arab minority. Iran's Khuzestan province, where Ahvaz is the provincial capital, also has seen recent protests over Iran's nationwide drought, as well as economic protests.
IS also claimed Saturday's attack, initially offering incorrect information about it and later publishing a video of three men it identified as the attackers. The men in the video, however, did not pledge allegiance or otherwise identify themselves as IS followers.
Fars later said Iranian officials identified the attackers as Hassan Darvishi, Javad Sari, Ahmad Mansouri, Foad Mansouri and Ayad Mansouri. It said two of them were brothers and another was their cousin.
Darvishi and Ayad Mansouri both appeared in the IS video. A third man in the video resembled either Ahmad or Foad Mansouri, but The Associated Press could not independently verify his identity.
Iranian officials have maintained that Arab separatists carried out the attack. A spokesman for an Ahvazi separatists group on Saturday also identified one of the attackers by name—Ahmad Mansouri—in an interview with AP reporters.
State TV reported late Monday that authorities have detained 22 suspects linked to the group behind the attack and confiscated ammunition and communication equipment.
The Guard's acting commander, Gen. Hossein Salami, vowed revenge Monday against the perpetrators and what he called the "triangle" of Saudi Arabia, Israel and the United States.
"You are responsible for these actions; you will face the repercussions," the general said. "We warn all of those behind the story, we will take revenge."
Khamenei, who has final say on all state matters, said Monday that the attack showed Iran has "a lot of enemies," according to remarks posted on his website. He linked the attackers to the United States, Saudi Arabia and the UAE.
"Definitely, we will harshly punish the operatives" behind the terror attack, he added.