Satellite internet requires a large antennae and a lot of power. But the bandwidth necessary for sending short messages is much smaller and is achievable in a smaller form factor. Take GPS for instance, it is a form of satellite connectivity, and fits in an apple watch just fine. (GPS only needs the bandwidth to send coordinates and altitude.) The low bandwidth is why this would only support messages and not voice calling. I think people are confusing any satellite connectivity at all with satellite internet.
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As others have responded, GPS is a bad example since it is one way communication. My main point is that the bandwidth small text messages require is much less than the bandwidth (and thus equipment) voice calling or internet requires.
-Edit-
As others have responded, GPS is a bad example since it is one way communication. My main point is that the bandwidth small text messages require is much less than the bandwidth (and thus equipment) voice calling or internet requires.
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