You can use startup option in JMS Listener form to connect to multiple nodes. You can choose any of the options as below.
Select to control how listeners start:
Run on all nodes — The listener is run on all nodes — all servers in a cluster.
Node based startup — The listener is started only on specified nodes.
Host based startup — The listener is started on a specified number of nodes on specific servers within the cluster.
I think you could queue instead of topic to read the message by exactly one receiver. In topic model message can be read by multiple consumers. If your requirement is to use topic in multiple nodes, message read in one node wouldn't be visible to another node.