The visitors started the game strongly and Manolo Gabbiadini came close to giving them an early lead when he flashed a shot wide of the goal.
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Jonathan was next to come close for the home side, but his effort from outside of the box was struck high over the bar.
After the break, Guarin came close to scoring his second of the match, when he cut inside from the right flank, before powering a strike against the post.
Handanovic nearly allowed the visitors back into the game when he spilled a free kick from Eder, but Inter managed to clear the danger.
Sampdoria dominated possession in the closing stages and with just a minute left to play they equalised, as Renan Garcia found the bottom corner with a powerful long range effort.