Search for handcent in the market. It's a replacement of sorts for the stock text messaging app. It has an option to unlock the phone and pop up a window with the incoming text message when you receive one. That is one option. If you're looking for a way to just open the messages app when you unlock the phone, you can use a lock screen replacement app such as widget locker. There are others out there that will give you the same sort of functionality.
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