All methods recommended are correct and you can solve your problem. But based on esri documents for ArcGIS 10.3 version is something "KMWPJPL" wrote here already.

"Exports an existing PDF file to a Tagged Image File Format (TIFF). If the PDF has georeference information, the TIFF can be a GeoTIFF. These TIFFs can be used as a source for heads-up digitizing and viewing in ArcMap. Both GeoPDF and ISO standards of georeferenced PDFs are supported."

Usage

1. If the PDF consists of more than one page, PDF Page Number lists the pages in the PDF. You will get an error if you try to enter an invalid page number.
2. PDF Page Number can only be one page; it cannot be a range of pages.
3. If the PDF doesn't contain a spatial reference, PDF Map and Write GeoTIFF Tags are disabled.
4. 3D GeoPDF version 1.0 is not supported. The tool will output a TIFF but it may not be georeferenced.

All methods recommended are correct and you can solve your problem. But based on esri documents for ArcGIS 10.3 version is something "KMWPJPL" wrote here already.

"Exports an existing PDF file to a Tagged Image File Format (TIFF). If the PDF has georeference information, the TIFF can be a GeoTIFF. These TIFFs can be used as a source for heads-up digitizing and viewing in ArcMap. Both GeoPDF and ISO standards of georeferenced PDFs are supported."

Usage

1. If the PDF consists of more than one page, PDF Page Number lists the pages in the PDF. You will get an error if you try to enter an invalid page number.
2. PDF Page Number can only be one page; it cannot be a range of pages.
3. If the PDF doesn't contain a spatial reference, PDF Map and Write GeoTIFF Tags are disabled.
4. 3D GeoPDF version 1.0 is not supported. The tool will output a TIFF but it may not be georeferenced.

Finally: I think your answer is "No" you can't do that without covert GeoPDF to image