You can find the answer for how your human clients/customers/users can reply here:
https://www.twilio.com/docs/sms/quickstart/python#install-flask-and-set-up-your-development-environment
Rather than "client", I will use the word "user" to mean client / customer / user / human.
Let me explain what these instructions tell you by example:
The instructions will tell you how to make a bot that can send a human user a text such as "Hi, How Are You?". Then the user can respond with e.g. "I need an espresso.".
Then the bot will detect that that user has sent a response and can reply with a canned answer such as "Oh, okay.".
The instructions are pretty involved, impossible to summarize here, and fairly well written (I just followed them successfully).
However, those instructions are not clear on how to make the bot actually process what the user says, for example respond conditionally based on whether the user says 'yes' or 'no'.
If you want to actually process the contents of the user's message (exemplified as detecting whether they replied 'yes', 'no', or something else, then you can take the run.py they have at the end of their tutorial and modify is like so:
from flask import Flask, request
from twilio.twiml.messaging_response import MessagingResponse
import sys
app = Flask(__name__)
@app.route("/sms", methods=['GET', 'POST'])
def sms_ahoy_reply():
"""Respond to incoming messages with a friendly SMS."""
# Start our response
resp = MessagingResponse()
message_body = request.form['Body']
message_body = message_body.strip()
if message_body == "yes":
resp.message("You said yes.")
elif message_body == "no":
resp.message("You said no.")
else:
resp.message("You said neither yes nor no.")
return str(resp)
if __name__ == "__main__":
app.run(debug=True)