How do I change the way error messages are presented by the jQuery Validation plugin?

I've chosen to use Jörn Zaefferer jQuery Validation plugin since it seems to be the most robust and easy to integrate, however I'd really like to change the error messages to look like the pop-up boxes used by Mootools and Position Absolute's A jQuery inline form validation, because validation is a mess (I've included image below).

Is there a relatively simple way to do this?