This shows part of the PDF I uploaded as a test.
And here is the resulting DWG file that you get a download link to in an email. Some of the text is correctly converted while some other text could not be converted. Geometries seems to convert quite fine even though the result is not circles or whatever objects you started with but instead mostly polylines and some hatch objects. The text comes in on layer T, polylines on layer P and hatches on layer H.
Other methods are to use Adobe Acrobat (depending on version) may have the copy graphics tool to copy the graphics to the clipboard. Adobe Illustrator that can save a PDF in DWG or DXF format. The free Ghostscript & GSView can export PDF to DXF. There are also specific products to purchase for this specific functionality.
Note that if you have raster PDF files instead of linework PDF files you may not be able to convert them. Some text might be linework and will also be converted to lines instead of text.
Finally there might not be a need to convert the PDF. Attaching it as a reference in AutoCAD might even be the best choice.