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If you let g be a tuple of expressions involving t you can use the Python * operator to use the tuple entries as your inputs x, y, and z:

sage: g = (t, t^2, t^3)
sage: f = lambda x,y,z: (2*x, y+x+z, y*x)
sage: f(*g)
(2*t, t^3 + t^2 + t, t^3)

If you want to define both g and f as lambda functions you could do:

sage: g = lambda t: (t, t^2, t^3)
sage: f = lambda x,y,z: (2*x, y+x+z, y*x)
sage: f(*g(t))
(2*t, t^3 + t^2 + t, t^3)