[From a Schemer's perspective. Even though some concepts in Scheme and Common Lisp have the same name, it does not mean that the mean the same thing in the two languages.]
First note that symbols and identifiers are two different things.
Symbols can be thought of as strings which support fast equality comparision.
Two symbols s and t are equal (more or less) if they are spelled the same way. The operation string=? needs to loop over the characters in the and see if they are all alike. This take time proportional to the length of the shortest string. Symbols on the other hand are automatically (ny the runtime system) put into a (typically) hash table. Therefore symbol=? boils down to a simple pointer comparison and is thus very fast. Symbols are often used in cases where one in C would use enumerations.
Symbols are values that can be present at runtime.
Identifiers are simply names of variables in a program.
Now if said program is to be represented as a Scheme value, one choice would be to use symbols to represent identifiers - but that does not mean symbols are identifiers (or vice versa). A better representation of identifiers (still in Scheme) is syntax objects which besides the name of the identifier also records the where the identifier was read (or constructed). Say you encounter an undefined variable and want to signal where in the program the undefined variable is, then is very convenient that the source location is part of the representation of the identifier.
Last but not least. What are the legal characters of an identifer? Here it is best to quote chapter and version from R6RS:
4.2.4 Identifiers
Most identifiers allowed by other programming languages are also
acceptable to Scheme. In general, a sequence of letters, digits, and
“extended alphabetic characters” is an identifier when it begins with
a character that cannot begin a representation of a number object. In
addition, +, -, and ... are identifiers, as is a sequence of letters,
digits, and extended alphabetic characters that begins with the
two-character sequence ->. Here are some examples of identifiers:
lambda q soup
list->vector + V17a
<= a34kTMNs ->-
the-word-recursion-has-many-meanings
Extended alphabetic characters may be used within identifiers as if
they were letters. The following are extended alphabetic characters:
! $ % & * + - . / : < = > ? @ ^ _ ~
Moreover, all characters whose Unicode scalar values are greater than
127 and whose Unicode category is Lu, Ll, Lt, Lm, Lo, Mn, Mc, Me, Nd,
Nl, No, Pd, Pc, Po, Sc, Sm, Sk, So, or Co can be used within
identifiers. In addition, any character can be used within an
identifier when specified via an <inline hex escape>. For
example, the identifier H\x65;llo is the same as the identifier
Hello, and the identifier \x3BB; is the same as the identifier
λ.
Any identifier may be used as a variable or as a syntactic keyword
(see sections 5.2 and 9.2) in a Scheme program. Any identifier may
also be used as a syntactic datum, in which case it represents a
symbol (see section 11.10).
From: http://www.r6rs.org/final/html/r6rs/r6rs-Z-H-7.html#node_sec_4.2.4
