If you are a beginner, it is suggested that you start the improvisational process by practicing the G minor pentatonic scale in steady time over this progression. (In fact these chords are included one-at-a-time from this page's source) Your ear will detect the good (consonant) notes and those that are not so good (dissonant). Try playing the better sounding notes for 2,3 or 4 sustained beats while limiting the more-tense notes to a beat or less. After that, randomly inject specific amounts of silence (mute the strings to avoid any sustained tones). This simple exercise will demonstrate the principle of tension and resolution. Tension and resolution will help to transform a scale into a more musical statement.

The road to a full compliment of techniques and styles is long, but there is no reason why a temporary limitation of physical prowess should prevent your ability to make a valid and pleasing single-note phrase.