I think I may have found what it is. I think it is a pink form of the tobacco budworm. I found a link to it's picture in another Larva ID thread that was posted a while ago. After research it looks spot on. It also appears to be quite a pest here in California to crops. I don't know what the heck it's doin' on my salvia. Someone with more knowledge is free to chime in if they think I'm wrong. Thanks!
~Melissa

I can't tell for sure if it's a Tobacco Budworm from the pictures or not, but it looks close on everything I can tell. I actually kind of like raising them. I raised some last year that ate petunias. I have also seen them eating snapdragons and even tomato fruit! They burrow into the ground to pupate, may overwinter, and emerge as a pretty, greenish moth. here are some pictures of last year's ones that overwintered.
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Here is a better picture of the moth from a few years ago:
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-Jmcat

Thanks Jmcat! Now I am sure that is what it is (was). Turns out I didn't need to do anything about them. When I pulled up to the house the other day about 10,000 birds flew away from my salvia bush....not a caterpillar to be found anymore.
~Melissa