How to use our own domain to access form?

Is that possible for me to hide url starts from "form.jotform.com" and replace with the client `s company name, for example https://www.companyname.com/requestform/?

Please advise. Thanks

Yes it is possible to use your own domain to access form by taking advantage of "Custom Domain" feature. You may like to take a look at the following guide which should help you: https://www.jotform.com/help/144-How-to-Use-Custom-Domains-with-JotForm-Enterprise

Please note that to use custom domain feature, you need to be on enterprise plan: https://www.jotform.com/enterprise/