Typically not possible as YALMIP actually doesn't know what the involved variables are called. To YALMIP, every variable is simply defined by an index. However, for simple cases, this works (as in your case)
sdisplay(sdpvar(constr(2)))
-1+y
I.e., -1+y is non-negative.
Most often you will not get this nice display, and it will show -1+internal(2) instead (2 being the internal index to y)