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Sounds very much like the usb drivers for the printer are not compiled into the kernel, so when lpd starts it won't find one. You are also using Mandrake with it's devfs turned on. That there is the real problem since lpd won't probe /dev/usb/lp0 since that file doesn't exist until the module is loaded. But since it does use devfsd the config daemon for devfs you should be able to fiddle with it's settings in /dev/devfsd.conf. I can't give you any specific examples since while I like devfs most of the time I don't care for devfsd so I don't use it.
Alternatively you might be able to load the usb drivers from a startup script before lpd gets started. It should be in a script /etc/rc.d/rc3.d/S##lpd. or in rc5.d depending on your run level. If you just whip up a script that does /sbin/modprobe modulename or any other settings you require and place it in rc3.d and rc5.d with a file name S##usbmodules or something, so long as the ## is a lower number then the one used for lpd it should work find.
Now the second one should work, but it's more of a kludge then the first which I would suggest over the second.
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