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Keep in mind that at the time of the robbery, the OP didn't know how much was in the purse, or exactly what was going down. So the expression "$5 isn't worth killing over" really doesn't work.
That being said, I get the impression these people came back into the bar AFTER getting robbed, is that correct? If so, you were wrong in running outside and drawing your weapon, because the act was completed. The robbery was finished; there was no longer a threat.
Now, if you'd stepped or looked outside and saw somebody in a hoodie pointing a gun at your friends, that would have been a different story; you would have been justified (in most states, I suppose...) in using deadly force to prevent another individual from illegally using deadly force to cause death or serious bodily injury.
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