Actually, the instructions are SUPER clear.
With these instructions, I would recommend only contacting a professor in that department if there is a real reason why you feel that a professor might choose to advocate for you in the admissions process. You should consider this a substantially high bar to get over.
For example, if you've met the professor at a conference because of research you've done, or if you've been very immersed in research directly related to that investigators lab. In this case, you're probably doing the professor a favor by pointing out that there may be an entering grad student they'd have interest in.
An additional time when I think it would be a good idea to contact the prof is if you would only attend that university if offered a slot in that professor's lab. In this case, contacting the prof to find out if this is a viable possibility can save both you and the program you're applying to time and expense. If there are three or four labs you'd be willing to work in, skip this.
Generally, at least in the US, it's probably only a good idea to contact the prof if establishing a relationship would be mutually beneficial, keeping in mind that the prof will be competing with other profs for the best grad students in their program.
If your letter to the prof would look like "you don't know me, but I've heard of your field and I think I would like working in it -- please do what you can to get me admitted" -- that's pretty much just noise.