No matter what you do on your end, if they are not registered and set up for Messages on their iPhones, you will not be able to contact them. If you had an iPhone yourself, you would be able to send an SMS message to them no matter what, but the iPad does not send SMS messages.
Ask those contacts if they have set up messages on their phones.
Using FaceTime http://support.apple.com/kb/ht4319
Troubleshooting FaceTime http://support.apple.com/kb/TS3367
The Complete Guide to FaceTime + iMessage: Setup, Use, and Troubleshooting
Troubleshooting FaceTime and iMessage activation
Using FaceTime and iMessage behind a firewall
iOS: About Messages
Set up iMessage
Setting Up Multiple iOS Devices for iMessage and Facetime
FaceTime and iMessage not accepting Apple ID password
Unable to use FaceTime and iMessage with my apple ID
My Facetime Doesn't Ring
For non-Apple devices, check out the TextFree app https://itunes.apple.com/us/app/text-free-textfree-sms-real/id399355755?mt=8
How to Send SMS from iPad