In Android is dev/binder also for layers communication responsible. Is it possible to listen to messages? I know that they must be decoded than, but how can I get this messages. For example if an app send a message to became an Geolocation. I have also root on my android device.
Short: Nope, it shouldn't be possible, even with root.
There isn't that much informations about Binder in detail on the net but there are some, especially about the security. Refer to this or to point 3.8 here. You may also read the source of the kernel driver and the source of openbinder.