Carrier pigeon were used in the middle ages which was probably the fastest way to send a message long distance.
On land riders on fresh horses could be used in a relay system.
Smoke signals which we’ve all seen in movies could also be used. A fire on one hill top could be seen by a lookout miles away who then lights a fire for the next lookout. This could get a simple message across many if not a hundred miles relatively quickly.
For kings sending messages across oceans though it was by boat and irl was not quick. It took days to weeks.
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