Someone on StackOverflow helped me out! This is the answer
<?php
$terms = get_the_terms(get_the_ID(), 'locatie'); // Get the terms associated with the post
if ($terms && !is_wp_error($terms)) :
foreach ($terms as $term) : ?>
<h2><?php echo esc_html($term->name); ?></h2>
<p><?php echo esc_html($term->description); ?></p>
<?php endforeach;
endif;
?>
