To change the default Ubuntu splash screen into the kernel loading each system and messages, try this:

1. Open a terminal

2. Command to edit the grub file using nano. (you can use other text editor you like. i am using nano here)
sudo nano /etc/default/grub

3. Remove quiet and splash. Change the following line:
FROM: GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
TO: GRUB_CMDLINE_LINUX_DEFAULT=""

4. Save your changes and close the text editor

5. Command to Update config grub:
sudo update-grub

5. Reboot