You can configure the error messages in the locales file at: /config/locales/devise.en.yml
Which should have something like below code and which you can easily modify to your liking:
en:
errors:
messages:
not_found: "not found"
already_confirmed: "was already confirmed"
not_locked: "was not locked"
devise:
failure:
unauthenticated: 'You need to sign in or sign up before continuing.'
unconfirmed: 'You have to confirm your account before continuing.'
locked: 'Your account is locked.'
invalid: 'OH NOES! ERROR IN TEH EMAIL!'
invalid_token: 'Invalid authentication token.'
timeout: 'Your session expired, please sign in again to continue.'
inactive: 'Your account was not activated yet.'
sessions:
signed_in: 'Signed in successfully.'
signed_out: 'Signed out successfully.'
For a more detailed explanation, check out this url (with screenshots). The Customizing Error Messages section, in the article.