The unglue package provides an alternative, no knowledge about regular expressions is required for simple cases, here we'd do :
# install.packages("unglue")
library(unglue)
string = c("G1:E001", "G2:E002", "G3:E003")
unglue_vec(string,"{x}:{y}", var = "y")
#> [1] "E001" "E002" "E003"
Created on 2019-11-06 by the reprex package (v0.3.0)
More info : https://github.com/moodymudskipper/unglue/blob/master/README.md