In order to sign message m, m must be mapped to a point in G
In BLS, we do (not that's all that difficult) - other EC based signature algorithms, such as ECDSA and EdDSA, have no such need.
To answer the specific BLS-type proposals you made:
Why can't I simply do $mG$?
Well, your first suggestion would allow anyone to perform a forgery; it had:
- Signing: $s = m [sk] G_2$
Then, suppose someone had a valid signature $s$ for a known message $m$. Then, they could compute $m^{-1} s = [sk] G_2$; with that, they can sign any message they wanted.
Your second suggestion would also allow forgeries (given a valid signature of a known message); if the attacker had a valid $(r, s)$ pair for a message $m$, then to sign a message $m'$, he can construct $r' = (r + (m - m')G_2, s' = s$; on the rhs, the validator would compute $e(pk, r' + m'G_2) = e(pk, r + mG_2)$, which would match the lhs (because the attacker used the same $s$).