The claim is false.
I give a counterexample. I denote $d\mu(x)$ for Lebesgue integral and $dx$ for Riemann integral.
Take $$g(x)=\mathbf{1}_{x> 0}\frac{\sin(x)}{x}+\mathbf{1}_{x=0}$$ Note that there is no need to integrate on $(-\infty,0]$. Since this function is Riemann integrable on $[0,t]$ for all $t>0$ we have:
\begin{align}
\int_{[0,t]}\frac{\sin(x)}{x}\,d\mu(x) = \int^t_0 \frac{\sin(x)}{x}\,dx
\end{align}
Hence:
\begin{align}
\lim_{t\to\infty}\int_{[0,t]}\frac{\sin(x)}{x}\,d\mu(x)=\lim_{t\to\infty}\int^t_0 \frac{\sin(x)}{x}\,dx = \frac{\pi}{2}
\end{align}
Finite and all. However $\int_{[0,\infty)}\frac{\sin(x)}{x}\,d\mu(x)$ does not even exist, since $\frac{\sin(x)}{x}$ is not Lebesgue integrable on $[0,\infty)$. See this post for a proof.