You can use the annotate command to place text annotations at any x and y values you want. To place them exactly at the data points you could do this
import numpy
from matplotlib import pyplot
x = numpy.arange(10)
y = numpy.array([5,3,4,2,7,5,4,6,3,2])
fig = pyplot.figure()
ax = fig.add_subplot(111)
ax.set_ylim(0,10)
pyplot.plot(x,y)
for i,j in zip(x,y):
ax.annotate(str(j),xy=(i,j))
pyplot.show()
If you want the annotations offset a little, you could change the annotate
line to something like
ax.annotate(str(j),xy=(i,j+0.5))