display form error messages underneath the input fields

Hi everyone. Is there a way to display error messages underneath the input fields of a form if a field didn't pass validation? Can I somehow process form in the same action (User/index in my case) that the form is displayed and then send those error messages to view? What I have is : index.voit:

<div class="loginForm">
    <form action=<?= $form->getAction(); ?> method="POST">
    <label for="username">Username: </label>
    <?= $form->render('username'); ?>
        <br/>
    <label for="password">Password: </label>
    <?= $form->render('password'); ?>
    <br>
    <?= $form->render('login'); ?>
    </form>
</div>

LoginForm.php:

<?php
use Phalcon\Forms\Form,
Phalcon\Forms\Element\Text,
Phalcon\Forms\Element\Password,
Phalcon\Forms\Element\Submit,
Phalcon\Validation\Validator\PresenceOf,
Phalcon\Validation\Validator\StringLength;

class LoginForm extends Form {

public function initialize()
{
    $this->setAction('login');
    $username = new Text('username');
    $username->addValidator(new PresenceOf(array (
        'message' => 'Can\'t be empty'
    )));

    $password = new Password('password');
    $password->addValidator(new PresenceOf(array (
        'message' => 'Can\'t be empty'
    )));

    $submit = new Submit('login', array('value' => 'Login'));

    $this->add($username);      
    $this->add($password);
    $this->add($submit);
}
}

And UserController.php:

<?php

class UserController extends \Phalcon\Mvc\Controller
{
/**
 * login form
 * @var LoginForm
 */
private $_loginForm;
public function initialize()
{
    $this->_loginForm = new LoginForm();
}

public function indexAction()
{
    $this->view->setVar('form', $this->_loginForm);
}
public function loginAction()
{   
    if($this->request->isPost()) {

        if (!$this->_loginForm->isValid($this->request->getPost())) {
            foreach ($this->_loginForm->getMessages() as $message) {
                echo $message. '<br />';
            }
        }
        print_r($this->request->getPost());
    }
}

}