Greeting prospect based on HubSpot cookie

Hi, on my website, I'm looking to have an intercom bot pop when he recognizes a hubspot lead on my website, and address him with variables from Hubspot.

Basic example: John has submitted a HS form on my website on Monday, filling first name and company name fields. On Tuesday, he's back on my website, I want the Intercom bot to pop and tell him: Hey {firstname}, how can we help {companyname} today?

Any way I can do this?

Thanks!

PS1: I know Intercom has a Hubspot app on their store, with an option that says allow Intercom to access Hubspot cookie, but not sure it helps.