Hi JG89!
This is sadly enough not true. I'll try to explain it without going in too much detail.
The point is that the set E can be very, very ugly. Consider, for example, the function
f:[0,1]\rightarrow \mathbb{R}:x\rightarrow 1
this is a very innocent function and is certainly integrable over [0,1]. However, if I take
E=[0,1]\cap \mathbb{Q}
then f is not integrable over E anymore (Riemann-integrable that is). The reason is that E is far too ugly.
One can solve this issue by allowing more sets E, and this yields the Lebesgue integral. This resolves the issue with E=[0,1]\cap \mathbb{Q}. Sadly, the issue cannot be entirely resolved, as there will be (extremely ugly) sets E over which f cannot be integrable. Luckily enough, these ugly sets won't occur in daily practise. For example, if E is open or closed or the union of open/closed sets, then f will remain integrable over E. But it's important to know that there exists ugly sets over which f cannot be integrated.