You can use Virtual Network, Azure Connect to create a "connection" or "hybrid cloud" between the PCs and the Azure cloud. However, if you are talking about web based/simple messaging and the PCs have internet connectivity why not just route the messages through a secure (SSL/TLS) connection to the cloud?
For broadcasting/push-type notifications, please look at SignalR (http://signalr.net/). Microsoft is making that part of the ASP.NET platform: http://channel9.msdn.com/Events/Build/2012/3-034
It has some real nice functionality like gracefully, falling back on multiple mechanisms if advanced things like WebSockets are not supported by the server/client. This is an ideal solution and super scalable, since it is server based and very light on the client.