How to access custom data from a customer session in JS file?

Is there any way to access custom data stored in a customer session from a JS file ( without Ajax call ).

Here is the code for controller:

<?php

namespace Company\Vendor\Controller\Index;

use Magento\Framework\App\Action\Action;
use Magento\Framework\App\Action\Context;
use Magento\Customer\Model\Session;

class Index extends Action
{
    protected $_customerSession;

    public function __construct(
        Context $context,
        Session $customerSession
    ) {
        parent::__construct($context);
        $this->_customerSession = $customerSession;
    }

    public function execute()
    {
        $this->_customerSession->setMyValue('yes');
    }
}

To access the MyValue value, we can use $this->_customerSession->getMyValue();

How can I get the MyValue value in a JS file?