The difference in designation is the timing of the foundation of the cell line and the tissue that it was sourced from.
Embryonic Stem Cells are harvested from the inner cell mass of a Blastocyst around day 5 post fertilization. This is the first or second generation of cells to have started to differentiate, but they still have Pluripotency, which means that they can differentiate into any one of the three germ line cell types. 
Those three germ cell types are:
Embryonic Germ Cells are "cultured from primordial germ cells obtained from the gonadal ridge and mesenchyma of 5- to 9-week fetal tissue...."  These cells are multipotent, meaning that they will usually only be able to give rise to mesenchymal derived cell lines.
There are also differences in replicative ability. ES cells are for the most part immortal cells able to be maintained in in-vitro culture for long periods of time, while EG cells have a life cycle of about 70 to 80 cell divisions before they reach quiescence. If I had to venture a guess as to why this was the case, I would say that EG cells have likely already reached a stage of differentiation where they are repressing or down regulating the expression of Telomerase. ES cells will be expressing telomerase, so they will not experience telomere shorting due to the 3' end replication problem during DNA synthesis in S phase of mitosis.
There are other cell types of Adult Stem Cells other than Hemopoietic Stem Cells, so I am not sure why your course is making the distinction. It could be that in practice, we have only really successfully used Hemopoietic Stem Cells in treatments for diseases by doing bone marrow transplants. You would likely have to have your instructor clarify this point for you.