You can enable iMessage in Settings/Messages -> iMessage
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In the Messages app , you can exchange text messages using SMS and MMS through your cellular service on iPhone, and with other iOS devices and Mac computers using iMessage.
iMessage is an Apple service that sends messages over Wi-Fi or cellular connections to other iOS devices (with iOS 5 or later) and Mac computers (with OS X 10.8 or later). These messages don’t count against your messaging plan. Messages sent via iMessage can include photos, videos, and other info. You can see when other people are typing, and send read receipts to let them know when you’ve read their messages. For security, messages sent via iMessage are encrypted before they’re sent.
iMessage texts appear in blue bubbles, and SMS/MMS texts appear in green bubbles. For more information about SMS/MMS and iMessage, see the Apple Support article Use Messages with your iPhone, iPad, or iPod touch.
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copied from Setting up iMessage/iPhone user guide 12
Make sure that the option to use SMS service, in case iMessage is not available, is selected in the settings for messages as well. Otherwise you can not send text messages to other non Apple devices.