You don't have to be stuck to your terminal's default 16 (or fewer) colours. Modern terminals will support 256 colours (which will get you pretty close to your GUI look).
Unfortunately, getting your terminal to support 256 colours is the tricky part, and varies from term to term. This page helped me out a lot (but it is out of date; I've definitely gotten 256 colours working in gnome-terminal and xfce4-terminal; but you may have to build them from source.)
Once you've got your terminal happily using 256 colours, the magic invocation is setting your terminal type to "xterm-256color" before you invoke emacs, e.g.,:
export TERM=xterm-256color; emacs -nw
You can check if it's worked in emacs by doing M-x list-colors-display
, which will show you either 16, or all 256 glorious colours.
If it works, then look at color-theme
like someone else suggested.
(You'll probably get frustrated at some point; god knows I do every time I try to do something similar. But stick with it; it's worth it.)