Here is my code:
 var messageView : UITextView = {
        var textView = UITextView()
        textView.text = \"   Add your message here\"
        textView.text         
        You need to set translatesAutoresizingMaskIntoConstraints on the label to false and isActive to true on the constraints. Basically your constrains code should look like this:
accessoryView.leadingAnchor.constraintEqualToAnchor(label.leadingAnchor, constant: 18).isActive = true
accessoryView.centerYAnchor.constraintEqualToAnchor(label.centerYAnchor).isActive = true
As per my understanding, try this:
Swift 3
let accessoryView = UIView()
let label         = UILabel()
let counterLabel  = UILabel()//This is the counter label
label.text        = "You have a 100 character limit"
counterLabel.text = "100"
accessoryView.frame = CGRect.init(x: 0, y: 0, width: UIScreen.main.bounds.size.width, height: 44)
accessoryView.backgroundColor = UIColor.red
accessoryView.addSubview(label)
accessoryView.addSubview(counterLabel)
// to setup contraint set below property to false.
label.translatesAutoresizingMaskIntoConstraints = false
counterLabel.translatesAutoresizingMaskIntoConstraints = false
//label constrint with 0 padding from left side. To change padding from left and right side, change the constant value.
accessoryView.leadingAnchor.constraint(equalTo: label.leadingAnchor, constant: 0).isActive = true
accessoryView.centerYAnchor.constraint(equalTo: label.centerYAnchor).isActive = true
//counterl=Label constrint with 0 padding from right side
        accessoryView.trailingAnchor.constraint(equalTo:counterLabel.trailingAnchor, constant: 0).isActive = true
accessoryView.centerYAnchor.constraint(equalTo: counterLabel.centerYAnchor).isActive = true
textView.inputAccessoryView = accessoryView