This verse is part of Jacob's plan to reconcile with his brother Esau, whom he had wronged many years prior by stealing his birthright and blessing. Let's break down the meaning:

"He commanded them, saying, “This is what you shall tell my lord, Esau...": Jacob is giving specific instructions to his messengers. He wants them to deliver a carefully crafted message to Esau.

"‘This is what your servant, Jacob, says...": The use of the phrase "your servant" is significant. Jacob is deliberately adopting a humble and submissive posture. He is trying to appease Esau and signal that he doesn't intend any further conflict. He's downplaying his own status and acknowledging Esau's superiority.

"I have lived as a foreigner with Laban, and stayed until now.": This part of the message serves a few purposes:

Explaining his absence: It explains why Jacob has been away from Esau for so long. He hasn't been scheming or plotting against Esau; he's simply been living and working in a foreign land.
Suggesting he's not a threat: By emphasizing his status as a "foreigner" (Hebrew: ger) with Laban, Jacob implies that he has not accumulated power or influence in Canaan, and is thus not a threat to Esau's control of the land. Ger status involved obligations to the native population, and also implied a lack of full rights.
Subtly conveying wealth: While not explicitly stating it, the fact that Jacob has "stayed until now" hints that he has been successful and accumulated wealth during his time with Laban. This is relevant because it might appease Esau by showing that Jacob no longer needs to compete with him for the family inheritance or blessing.

In summary, this verse represents Jacob's attempt to approach Esau with humility and respect, hoping to defuse any potential anger or hostility. He's portraying himself as a non-threatening, perhaps even dependent, relative returning home after a long absence. He uses carefully chosen words to subtly convey his situation and intentions.