can i see my messages from iCloud

To see/read/write messages you need an Apple device, you cannot use a PC.

Messages on iCloud are sync to all your Apple devices (Mac, iPhone, iPad, iPod touch and Apple Watch) automatically you do not need to do anything.

You cannot use a PC for that.

No. Stored messages are encrypted.

FYI: You can read/write using another device because the messages are synced to all your other devices using the same Apple ID & password.