Remote Assistance (Windows XP - Win10 until anniversary update, renamed Quick Assist in current Win10) in Windows is based on RDP, but a separate feature. Remote Assistance/Quick Assist is a bit spookier than RDP because it allows you to connect to the session of another user. Normally this required user prompting but if you have local admin on the target machine (e.g. IT team) you can make the client auto-answer prompts on Win7(although hackishly).
This article tells you to turn off Remote Desktop entirely which is unnecessary to disable Remote Assistance/Quick Assist.