Straight from ChatKit.framework
dispatch_queue_t queue = dispatch_queue_create("com.apple.chatkit.clientcomposeserver.xpc_connection_queue", DISPATCH_QUEUE_SERIAL);
xpc_connection_t connection = xpc_connection_create_mach_service("com.apple.chatkit.clientcomposeserver.xpc", queue, 0);
xpc_connection_set_event_handler(connection, ^(xpc_object_t){});
xpc_connection_resume(connection);
dispatch_release(queue);
xpc_object_t dictionary = xpc_dictionary_create(0, 0, 0);
xpc_dictionary_set_int64(dictionary, "message-type", 0);
NSData* recipients = [NSPropertyListSerialization dataWithPropertyList:[NSArray arrayWithObject:@"12212"] format:NSPropertyListBinaryFormat_v1_0 options:0 error:NULL];
xpc_dictionary_set_data(dictionary, "recipients", recipients.bytes, recipients.length);
xpc_dictionary_set_string(dictionary, "markup", "SMS text");
xpc_connection_send_message(connection, dictionary);
xpc_release(dictionary);
recipients holds serialized property list with array of phone numbers to which you want to send your SMS - 12212 is just an example of phone number. Instead of SMS text you should put actual SMS text. Unfortunately, I couldn't find a way to check whether SMS was sent successfully.
To send message using this code your application entitlements should have com.apple.messages.composeclient key with boolean value set to true. Otherwise you get error in console saying application lacks entitlement.