We can do this by asking OSAscript to display a dialog in terminal.
osascript -e 'tell app "Finder" to display dialog "Hello World"
osascript -e 'tell app "System Events" to display dialog "Hello World"
Finally, it is possible to install terminal-notifier using gem.
sudo gem install terminal-notifier
terminal-notifier -message "Hello, this is my message" -title "Message Title"
Additionally, it is possible to display a notification with title.
osascript -e 'display notification "Sample Title" with title "Title"