This is in your Bluetooth settings on your iPhone. After syncing with your Mazda -- on your iPhone go to settings>>bluetooth>>press the little "i" info button next to Mazda under devices, and turn on "Show Notifications"
You'll be able to receive texts but the iPhone won't let you respond from the Mazda system. But you can always use siri to "respond."
Well, after one day of ownership love my CX-5 but, I got all electronic thingies to work except text messaging. iPhone 6S, IOS 9.1, message notification turned on. Anyone got this to work with a iPhone ?
Do you have a passcode setup on your phone? No idea if this fixes it on a '16 but on a '15 one way to fix is to turn off passcode, pair, then re-enable code after you confirm it is working
In my experience with all versions I've had on my 2016, it's flakey until you delete ALL MMS messages (text messages with pics/vids/sounds). After I did that, it's been flawless.
No need to clear out all your SMS, just the multimedia ones. (including the emojis, I think)