All iPads iMessage on iPad

[Boob]

For some reason, my contact names don't save on iMessage. I only see their numbers but when I receive messages on my iPhone it actually shows their name.

Ex.
On iPhone: Chris: Hey what's up man?
On iPad: 661-26X-XXXX: Hey what's up man?

Is there a way I can link the contact names? Only a few of them are linked whereas the rest are just their phone numbers on my iPad.

 

[phr0ze]

Settings - iCloud - Contacts
or
Settings - Mail, Contacts, Calendars

One of the two isn't matching up to sync contacts.

 

[Boob]

Settings - iCloud - Contacts
or
Settings - Mail, Contacts, Calendars

One of the two isn't matching up to sync contacts.

I have contacts enabled on both. I'm not sure what's causing this issue.