Receptors of growth factors, cytokines and chemokines are always expressed on the cell surface, since these growth factors, although cytokines are synthesized in cells, they are always secreted into the extracellular space (blood, intercellular fluid, CSF), since growth factors are regulatory molecules and affect the secreting their cell (autocrine effect) or neighboring cells (paracrine effect). And this effect of growth factors on cells is carried out through binding to their receptors, which are expressed on the cell surface. If such receptors are not expressed, then the cell will be insensitive to growth factors.
Internal cellular receptors for large molecules would require the uptake of their ligands, perhaps by phagocytosis. Putting the receptor on the cell surface where it can be exposed to the ligand without the uptake of a large molecule saves energy.