Forgot passcode. How to restore old messages (SMS) from iCloud backup?

Hi.

I have forgotten my phone's passcode. I did a system reset by going into recovery mode and using iTunes and restored the data from previous iCloud backup.

However, Messages (SMS + iMessages) were not restored after logging in with my Apple ID, and it is asking for old passcode to restore them. When I click "Forgot iPhone passcode?" in Messages app, I am getting this.

I have other devices in my home but not signed in with my Apple ID.

How do I "approve this iPhone from one of the another devices" to restore my messages?

Thanks.