I am tempted to answer your question by the negative:
I believe that there does not exist any other, simpler, way of saying
"left-invariant pseudo-differential operator on $G$".
The reason is that if you look at the subset of smoohtingsmoothing operators (operators with smooth integral kernel), I already don't know how to say "left-invariant smoothing operator on $G$" in any simpler (algebraic) way.