That's exactly what awk was made for. Using the output of xinput on my system:
$ xinput --list --short
⎡ Virtual core pointer                      id=2    [master pointer  (3)]
⎜   ↳ Virtual core XTEST pointer                id=4    [slave  pointer  (2)]
⎜   ↳ SIGMACHIP USB Keyboard                    id=12   [slave  pointer  (2)]
⎜   ↳ Logitech M325                             id=14   [slave  pointer  (2)]
⎜   ↳ AlpsPS/2 ALPS DualPoint Stick             id=17   [slave  pointer  (2)]
⎜   ↳ AlpsPS/2 ALPS DualPoint TouchPad          id=16   [slave  pointer  (2)]
⎣ Virtual core keyboard                     id=3    [master keyboard (2)]
    ↳ Virtual core XTEST keyboard               id=5    [slave  keyboard (3)]
    ↳ Power Button                              id=6    [slave  keyboard (3)]
    ↳ Video Bus                                 id=7    [slave  keyboard (3)]
    ↳ Power Button                              id=8    [slave  keyboard (3)]
    ↳ SIGMACHIP USB Keyboard                    id=11   [slave  keyboard (3)]
    ↳ Dell WMI hotkeys                          id=18   [slave  keyboard (3)]
    ↳ AT Translated Set 2 keyboard              id=13   [slave  keyboard (3)]
    ↳ Sleep Button                              id=9    [slave  keyboard (3)]
    ↳ UVC Camera (046d:0819)                    id=10   [slave  keyboard (3)]
$ xinput --list --short | awk -F"\t" '{print $2}'
id=2
id=4
id=12
id=14
id=17
id=16
id=3
id=5
id=6
id=7
id=8
id=11
id=18
id=13
id=9
id=10
awk will automatically split each input line into fields on the value given by -F. By default, it splits on whitespace, but here we need a tab. The 1st field is $1, the second $2 etc. 
Alternatively, you can use cut:
$ xinput --list --short | cut -f2
id=2
id=4
id=12
id=14
id=17
id=16
id=3
id=5
id=6
id=7
id=8
id=11
id=18
id=13
id=9
id=10
You can save the output in a shell variable just like you would for any other command:
$ ids=$(xinput --list --short | awk -F"\t" '{print $2}')
$ echo $ids
id=2 id=4 id=12 id=14 id=17 id=16 id=3 id=5 id=6 id=7 id=8 id=11 id=18 id=13 id=9 id=10
$ echo "$ids"
id=2
id=4
id=12
id=14
id=17
id=16
id=3
id=5
id=6
id=7
id=8
id=11
id=18
id=13
id=9
id=10
You could also save it as an array:
$ ids=( $(xinput --list --short | awk -F"\t" '{print $2}') )
$ echo ${ids[@]}
id=2 id=4 id=12 id=14 id=17 id=16 id=3 id=5 id=6 id=7 id=8 id=11 id=18 id=13 id=9 id=10
$ echo ${ids[2]}
id=12