Is there a way where I can fully customize my forms URL?

Or is there a add on to where I can customize my forms URL instead of it saying

"https://form.jotform.com/2017616826561"

I'd like for it to say "https://mycompany.com/requestform"

Hello, thank you for reaching out to us.

You can customize your form URL partially, as follows:

Example: "https://form.jotform.com/mycompany/requestform"

To do so, please follow these instructions:

Guide: How-to-Create-a-Custom-URL-of-a-Form

If you need to customize the entire URL, you must embed your form on a website of your own. For more details, kindly refer to this documentation:

Guide: Embedding-a-Form-to-a-Web-Page

Let us know if you need any further assistance.