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Each field that can be filled in has this option in settings:
click on the element, you will see a little gear icon in the top right corner of the highlighted element, click on the icon, the top choice is "Required".
I hope this helps.
I went ahead and took a look at your form http://www.jotform.com/51186565403152, I see that the fields labeled "Company" and "Title" those are type Text, this type of fields can not become Required as this is for the use of the form creator not for the person who is going to fill it out and submit the form.
My best advise for you is to use Text Area or Text Box field type, for those you can make them Required.
The following shows the difference in the type of fields.
1 - Tex box and Text Area:
2- Text field:
I hope this information helps.