Messages in iCloud

See the article Use Messages in iCloud - Apple Support

When you turn off Messages on your iPhone, iPad, iPod touch, or Mac, you can choose to turn off Messages in iCloud for just that device or all of your devices. Any device where Messages in iCloud is still turned on continues to store what you send and receive from that device in iCloud.

On your iPhone, iPad, or iPod touch

1. Go to Settings.
2. Tap [your name] > iCloud.
3. Turn off Messages.

If you turn off Messages in iCloud on an iPhone, iPad, or iPod touch your message history will be included in a separate iCloud backup.

Hello OurStuffyWeLike, If you turned off message in iCloud backup then I would say no. The only items in iCloud backup would be the items you had turned on for backup.

Sorry, you can't unless using some recovery tool, but such tools are not as safe as they claim. So I recommend you to ask for the help of Apple Support.