Emoji sets are mostly system-wide changes, so one way to change it is to 'theme' the OS. While Samsung allows this for many UI elements, emojis are not one of them, so you'd have to resort to 3rd party options that force the system changes (and require you to have root access).
Messaging apps can support different emoji sets, however, and it will depend on which app you use if it gives you options to load 'your own' emoji set or similar.