BUG: Fix message about UseITK begin deprecated

[blowekamp]

Disable printing the UseITK deprecated message when ITK_LEGACY_SILENT is set. Also fix the formatting of the message, to escape variable expression.

PR Checklist

• No API changes were made (or the changes have been approved)
• No major design changes were made (or the changes have been approved)
• Added test (or behavior not changed)
• Updated API documentation (or API not changed)
• Added license to new files (if any)
• Added Python wrapping to new files (if any) as described in ITK Software Guide Section 9.5
• Added ITK examples for all new major features (if any)

Refer to the ITK Software Guide for
further development details if necessary.

[blowekamp]

May address #5762 too.