Why would they want them to defect for another Republican? It was for Hillary, or not vote at all to deny him the 270 needed.
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I believe there were questions among some Republican electors about the fitness of Mr. Trump. If I recall, one or two actually did vote for someone other than him but I don't recall the details. Also, I think that many Democrats would have preferred Mr. Pence to Mr. Trump.
In that case, impeachment would probably be the only recourse. And it would almost certainly fail to remove Biden from office, because you would need around 15-17 Democratic senators to go along with the vote to remove from office, and they would certainly refuse.
And even if it did succeed, it would simply mean Kamala becomes president, which is hardly an improvement at all; indeed, Kamala would be more liberal than Biden himself.
So - yes, when Biden is inaugurated, there is truly no more recourse.