See this question: How to add custom validation to an AngularJS form? 
To summarize:
You can use ui-validate 
OR
You can just create custom validation, like so (copied from the answer in the original question):
app.directive('blacklist', function (){ 
   return {
      require: 'ngModel',
      link: function(scope, elem, attr, ngModel) {
          var blacklist = attr.blacklist.split(',');
          //For DOM -> model validation
          ngModel.$parsers.unshift(function(value) {
             var valid = blacklist.indexOf(value) === -1;
             ngModel.$setValidity('blacklist', valid);
             return valid ? value : undefined;
          });
          //For model -> DOM validation
          ngModel.$formatters.unshift(function(value) {
             ngModel.$setValidity('blacklist', blacklist.indexOf(value) === -1);
             return value;
          });
      }
   };
});
And here's some example usage:
<form name="myForm" ng-submit="doSomething()">
   <input type="text" name="fruitName" ng-model="data.fruitName" blacklist="coconuts,bananas,pears" required/>
   <span ng-show="myForm.fruitName.$error.blacklist">
      The phrase "{{data.fruitName}}" is blacklisted</span>
   <span ng-show="myForm.fruitName.$error.required">required</span>
   <button type="submit" ng-disabled="myForm.$invalid">Submit</button>
</form>
EDIT: According to OP's request, print only the relevant error:
Plunkr: http://plnkr.co/edit/KN0Oukb8uACvZjtGPUg4?p=preview
var app = angular.module('angularjs-starter', []);
app.controller('MainCtrl', function($scope) {
  $scope.doSomething = function() {
    alert('Submitted!');
  }
  $scope.getErrors = function() {
    if ($scope.myForm.fruitName.$error.required) {
      return 'This field is required';
    } else if ($scope.myForm.fruitName.$error.blacklist) {
      return 'The phrase ' + $scope.data.fruitName + ' is blacklisted';
    }
  }
});
app.directive('blacklist', function() {
  return {
    require: 'ngModel',
    link: function(scope, elem, attr, ngModel) {
      var blacklist = attr.blacklist.split(',');
      ngModel.$parsers.unshift(function(value) {
        ngModel.$setValidity('blacklist', blacklist.indexOf(value) === -1);
        return value;
      });
    }
  };
});
.invalid {
  color: red;
}
.ng-invalid {
  border-color: red;
}
<!DOCTYPE html>
<html ng-app="angularjs-starter">
    <head lang="en">
    <meta charset="utf-8">
    <title>Custom Plunker</title>
    <script src="//ajax.googleapis.com/ajax/libs/angularjs/1.0.3/angular.min.js"></script>
  </head>
  
  <body ng-controller="MainCtrl">
    <form name="myForm" ng-submit="doSomething()">
       <div>Please <u>don't</u> type the words: coconuts, bananas or pears.</div>
       <input type="text" name="fruitName" ng-model="data.fruitName" blacklist="coconuts,bananas,pears" required/>
       <span class="invalid" ng-show="myForm.fruitName.$error">{{getErrors()}}</span>
       <br/>
       <button type="submit" ng-disabled="myForm.$invalid">Submit</button>
       <button type="button" ng-click="getErrors()">Get errors</button>
    </form>
  </body>
</html>