I guess you need to implement PopupWindow Have a brief idea in this doc
I am going to demonstrate a sample case so that you can understand. 
Suppose your layout of your View is custom_layout.xml 
<?xml version="1.0" encoding="utf-8"?>
<RelativeLayout
    xmlns:android="http://schemas.android.com/apk/res/android"
    android:id="@+id/rl_custom_layout"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:padding="2dp"
    android:background="#ab2fc4"
>
    <ImageButton
        android:id="@+id/ib_close"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:src="@drawable/ic_close_white_24dp"
        android:layout_alignParentEnd="true"
        android:layout_alignParentRight="true"
        android:background="@null"
    />
    <TextView
        android:id="@+id/tv"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="This is a sample popup window."
        android:layout_centerInParent="true"
        android:padding="25sp"
    />
</RelativeLayout>
Then in where you are going to handle cloud message, you just add this code snippet
    LayoutInflater inflater = (LayoutInflater) mContext.getSystemService(LAYOUT_INFLATER_SERVICE);
            // Inflate the custom layout/view
            View customView = inflater.inflate(R.layout.custom_layout,null);
            // Initialize a new instance of popup window
            mPopupWindow = new PopupWindow(
                    customView,
                    LayoutParams.WRAP_CONTENT,
                    LayoutParams.WRAP_CONTENT
            );
            // Set an elevation value for popup window
            // Call requires API level 21
            if(Build.VERSION.SDK_INT>=21){
                mPopupWindow.setElevation(5.0f);
            }
            // Get a reference for the custom view close button
            ImageButton closeButton = (ImageButton) customView.findViewById(R.id.ib_close);
            // Set a click listener for the popup window close button
            closeButton.setOnClickListener(new View.OnClickListener() {
                @Override
                public void onClick(View view) {
                    // Dismiss the popup window
                    mPopupWindow.dismiss();
                }
            });
In this case you can close your mPopupWindow with a click. If you want to close it automatically, use a Handler using its postDelayed() method. 
To know how to implement it with a Handler see this answer
I got help from this blog.
Hope this helps!