I follow a slightly different approach when solving linear first order PDE's. So this may look a bit more involved to you. Skip to 'Summarizing' to see a somewhat more concise explanation of what I think was going on in your professor steps.
To solve this kind of equation I find extremely useful to use the change of variable $w(x,t)=e^{\lambda t} u(x,t)$. It is easy to verify that $w(x,t)$ satisfies
$$
w_t+cw_x=0,\quad w(x,0)=0,\quad w(0,t)=e^{-\lambda t}g(t).
$$
Now, this is the simple transport equation, and the solution for $w$ is constant along the characteristics $x-ct=s$, so you can travel back on the characteristics until you hit either the initial or the boundary condition. If $x
$$
w(x,t)=w(0,t_0)
$$
where $t_0$ is the point where the characteristic hits the boundary condition, and depends on both $x$ and $t$. Its value is easily computed:
$$
x-ct=s \Rightarrow 0-ct_0 = s = x-ct\Rightarrow t_0 -\frac{x-ct}{c}.
$$
Therefore, for $x
Summarizing: I think your professor used a somewhat confusing notation. The first equation containing $\phi$ looked somewhat "given from above". Yes, $w$ is constant on lines of the form $x-ct$, and he basically called $\phi(x-ct)=w(x,t)$. But then from there he took it to a somewhat mystic route, hard to follow. In particular, when he writes $0-ct$, that $t$ is not a variable anymore, but it is the time at which the characteristic $x-ct$ hits the $t$-axis (what I called $t_0$). Letting $s=-ct$ is misleading then, cause it's actually $s=-ct_0$. The starting point should always be $s=x-ct$, with $s$ constant along the characteristic (the general equation of a characteristic), and when you're on the $t$-axis, then $x=0$ and $t=t_0$, leaving you with $s=-ct_0$. Then you can say
$$
e^{-\lambda t_0} \phi (-ct_0)=g(t_0)
$$
and since $s=x-ct$ is constant over the characteristic, then $s=-ct_0$, so you can write
$$
e^{-\lambda t_0} \phi (x-ct) = g(t_0).
$$
Then use $-ct_0=s=x-ct$ to solve for $t_0$ in terms of $x$ and $t$ to give a complete expression to the solution.