I’m not convinced these are inherent properties of GUIness. We have had GUIs in use for long enough that many elements even across slightly different GUIs are familiar enough, this had allowed conventions and then conventional wisdom to develop.
Early GUI developers also put effort into making their GUIs at least somewhat intuitive, but they also bundled thick books of documentation on how to use their systems.
To a degree, they are self-documenting, but not because of their GUIness so much as their design choices; menus helped a lot with this. Menus actually are a good subject to touch upon, they are definitely one of the better conventions we developed, and they were based upon and analogous to a restaurant menu. However their very nature as a list of commands you can issue a GUI does also typically but not always, limit the application. If the only options available to you are what is on the menu and there is no other interface, then an application is much more limited. This isn’t even true of most restaurants which will often allow you to issue an order for something not on the menu if they have the ingredients, equipment and expertise to make it.
But as a convention, it is not limited solely to GUIs, you can incorporate menus into any interactive interface.
I think the real innovation wasn’t GUIs, it was interactive software. The innovation beyond that is scriptable software.
What is important isn’t GUIness, but the developer’s intent. If you develop software with the intent to be self-documenting and discoverable, you will end up with an interface that is both of these things provided you did a competent job of it. A GUI might help, relying on platform conventions might help, and using common cultural conventions might help, but these aren’t the necessary ingredients for those qualities.
Emacs has the quality of self-documentation, but it is emphatically not a GUI even though it is interactive.
I would say well built systems, provided you intend to do anything productive and even slightly complex, should have a manual included, or else it isn’t a well built system.