When you activate the Ancient Wardstone, it becomes either a Guardian or Defiant foothold depending on your faction. Therefore, if you see a foothold on your map, it's possible that it is one of the Ancient Wardstones. You can disable them by attacking them and defeating them. Then about a second or so later, the Ancient wardstone will appear so you can activate it for your faction. Of course, attacking a foothold will cause you to become PVP flagged so beware if there are players of the other faction around.
See Ancient Wardstone for zones, locations and quests.