There are a number of ways you can achieve this.
1) Use the built in labels option: http://api.highcharts.com/highcharts#labels
2) Use the tickPositions property for the y axis, and format the labels as needed: http://api.highcharts.com/highcharts#yAxis.tickPositions
3) Use a scatter series with data labels. Position the point where you need it, format the data label, set the scatter point's marker radius to 0, or color to 'rgba(255,255,255,0)'
4) use plotlines, with a width of 0, and format the label accordingly
5) use the renderer function to draw your own labels http://api.highcharts.com/highcharts#Renderer
Most of the above options may require you to adjust your margin and or spacing settings, depending on where you place the element, as the chart does not automatically adjust for the these elements that way it does for an axis label or title.
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