I'm trying to do this exercise:
I'm unable to understand the meaning of the requirement
"there is a unique linear norm preserving extension $f$ of $g$ on $H$"
What do "linear norm" and "preserving extension" mean? Could you please elaborate on this issue? Thank you so much!

I think you cluttered the words exactly in the wrong way. The statement is, that you have a map, that is linear and defined on the whole Hilbert space $H$ (not just $G$). But its norm stays the same or you can say is preserved,e.g. $\|g\| = \|f\|$ and $f\bigg|_G = g$.