Automatic merge from submit-queue (batch tested with PRs 62781, 62815). If you want to cherry-pick this change to another branch, please follow the instructions <a href="https://github.com/kubernetes/community/blob/master/contributors/devel/cherry-picks.md">here</a>.
Update kubeadm upgrade message
**What this PR does / why we need it**:
Updates kubeadm upgrade message per user request
**Which issue(s) this PR fixes**:
Fixes https://github.com/kubernetes/kubeadm/issues/672
**Special notes for your reviewer**:
none
**Release note**:
```
NONE
```
/cc @kubernetes/sig-cluster-lifecycle-pr-reviews @kargakis
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