restore text messages

You can’t restore them from iCloud. If you are syncing text messages with iCloud, when you delete a message on the phone, it is deleted in iCloud. By syncing messages with iCloud, I mean Settings>Your Name>iCloud>Apps Using iCloud>Messages>On. If that is set to on, you are syncing messages with iCloud and if you deleted the message it is gone.

If you are backing up messages and not syncing them with iCloud, you would have to restore a backup that includes that text message. When you restore a backup, you restore everything in the backup so the current contents of your phone will be overwritten.

You will find more information here.

Restore your iPhone, iPad, or iPod touch from a backup - Apple Support