There are numerous interviews with Rob Pike about the design of Go from when Go was still being developed, and Erlang doesn't come up in anything that I can find other than this interview from 2010 where someone asks Rob Pike a question involving Erlang and Rob replies by saying he thinks the two languages have a different approach to are fairly different:
https://www.youtube.com/watch?v=3DtUzH3zoFo
It's at the 32 minute mark, but once again this is in response to someone asking a question.
Here are other interviews about Go, and once again in almost every interview I'd say Rob kind of insinuates he was motivated by a dislike of using C++ within Google to write highly parallel services, but not once is Erlang ever mentioned:
https://www.informit.com/articles/article.aspx?p=1623555