There is an entire universe of knowledge about translating colors from display devices (monitors) to static media (paper, film, etc.). After going the distance with ESRI, Adobe, Pantone and Hewlett-Packard on this subject - for years - here is what I do these days:
1. Take the time and effort to set up your monitor or other display device correctly. It's amazing how often people will crank the brightness all the way up on their monitor because the work in an office with an over-abundance of flourescent lights. Some display devices will actually change their color characteristics over time, so lobby the boss to get rid of the flat-screen CRT he paid so much for ten years ago and get something newer.
2. Make a few test images for yourself, like swatches of pure CMYK and RGB values. Or if you need specific colors, like USGS Topo colors, print out some swatches of those as well.
3. Take the time to get to know your output devices, your printers, plotters, etc. Read up on inks, drivers, paper stock, the works. Become familiar with the vocabulary of the print world. This helps a boatload when going to outside vendors for oversize wall maps and such.
4. If possible, get a hold of a Pantone Process Guide. And yes, it can be helpful to have both the Coated and Uncoated versions. Become familiar with the Pantone Matching System, and how CMYK numbers work together. The Process Guides do fade a bit over time, so keep them in a drawer, away from windows and sunlight.
5. Forget about ever matching CMYK numbers from an ESRI map document on your computer monitor to Pantone CMYK print colors. You'll go crazy.
6. Embark upon a life-long campaign of writing down your own color numbers that give you the colors you want from YOUR monitors to YOUR printers/plotters. Compare them to the Pantone Process Guides, and make lists or tables of what values you enter in ArcMap will actually give you what matches to Pantone, or your company/agency logo, or whatever color standards your being compelled to match to.
7. Relax and enjoy. Color can be a lot of fun. It doesn't have to be the stressful voodoo that it seems to be at first. Although, I've heard that swinging that dead chicken around your head does relieve stress in the cubicle, even if it doesn't get your colors to match. Have fun with it all. Make up creative and possibly sarcastic names for all your custom colors based on food groups or local geographic features. Don't get caught by your boss naming colors after him, and don't even think about blaming me if you do.
Gregory