Once you have signed into youtube with your username and password you can find the message icon in the top right corner of the page next to your name click that icon or the number next the envelope icon and it will bring you to your messages.
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To check for new messages on an iPhone5, one needs to unlock their phone, and click on Messages. Each time a new message shows, an alert will show on the Messages screen
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Check Wikipedia and read about their Voicemail article.
Yes. You can private message them. Go to your inbox, compose, and select a username
You can send a message on YouTube by using the private messaging system provided to each user. As long as a user didn't block you on YouTube, you will be able to send messages to the user you wish to send a message to. To access the private message feature, you should look for the "Inbox" link once you login to youtube when you drop-down the bar under your username on the top-right corner of any YouTube page.