Sharepoint 2010 doesn't offer the best PDF experience out of the box, but it can be quicky improved applying the recomendations from this two articles:
Welcome, Prashanth!
5 years ago
Gustavo Degeronimi's IT and software development booth
Most of Sharepoint Page Templates and Masterpages include a left navigation bar. To remove it, we have two options:
<asp:Content ContentPlaceHolderId="PlaceHolderLeftNavBar" runat="server"/>
<style type="text/css">
body #s4-leftpanel {display:none;}
.s4-ca {margin-left:0px;}
</style>
Taken from the Kraft and Kennedy blog.