Did you try to set in the file validators.{locale_code}.yml
to set a translation for key The CSRF token is invalid. Please try to resubmit the form
?
To change the default message you can try this out:
#MyBundle\Resources\translations\validators.en.yml
The CSRF token is invalid. Please try to resubmit the form : My custom CSRF error
The error message is thrown here and it is of FormError class...thus it should be possible to translate it.