Is there a way to customize the PDF created by filling out a form?

When a form is submitted and I pull up the PDF of the complete form, it is missing all titles and does not come up in the same format the form is in while filling it out.  Is there a way to have the PDF print out with titles OR look similar to the original form?  

If you want that titles from you form are shown inside of PDF report, then you will need to check "Show Headers and Texts" option in the form submissions page. Inside of this guide you can find how to do it:

https://www.jotform.com/help/305-How-to-show-headers-or-text-for-contracts-terms-agreements-in-the-PDF-format-of-a-submission 

It is also possible to customize your PDF report. You can do it inside of PDF Designer. On submission page click On PDF and select Customize PDF option.

However even if you customize your form inside of PDF designer, it will not look as your online form. 

If you want to have PDF report that will look exactly the same as your online form with users data then please check this guide: How to Print the Form with the Users Data

Hope this will help. Let us know if you need further assistance.