'pithy' means brief, forceful, and meaningful in expression.
'condensed' and 'concise' both approximately mean the same thing - which is 'brief' and 'to the point'.
'terse' is also similar in meaning to all of these, but has an implication of anger and offense.
So 'terse' is the best option considering the context of the sentence. 'condensed' and 'concise' do not imply his anger, and pithy means something significant - like a complex idea - said concisely.
