Is there a way to edit the error message when a field is incorrectly filled?

We would like to know if it's possible to change the error message that shows up whenever there's an error when a person inserts a value. This kind of message shows up when a person inserts wrong characters (e.g. a letter in a field that requires numbers) or a person tries to submit a value in a section without filling a mandatory field. We would like to change the message.