Fault-tolerant quantum computing based on surface code has emerged as an attractive candidate for practical large-scale quantum computers to achieve robust noise resistance. To achieve universality, magic states preparation is a commonly approach for introducing non-Clifford gates. Here, we present a hardware-efficient and scalable protocol for arbitrary logical state preparation for the rotated surface code, and further experimentally implement it on the Zuchongzhi 2.1 superconducting quantum processor. An average of 0.8983±0.0002 logical fidelity at different logical states with distance three is achieved, taking into account both state preparation and measurement errors. In particular, the logical magic states |A^{π/4}⟩_{L}, |H⟩_{L}, and |T⟩_{L} are prepared nondestructively with logical fidelities of 0.8771±0.0009, 0.9090±0.0009, and 0.8890±0.0010, respectively, which are higher than the state distillation protocol threshold, 0.859 (for H-type magic state) and 0.827 (for T-type magic state). Our work provides a viable and efficient avenue for generating high-fidelity raw logical magic states, which is essential for realizing non-Clifford logical gates in the surface code.