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Unfortunately, it is not possible to rename/customize the name of the submission PDF that is added to your Dropbox integration in every submission. The file name of the PDF file is always set to the submission ID of the form submission.
Do let us know if you need further assistance.
Actually, you can customize the name of the submission PDF on the Dropbox integration. By Editing or recreating the Dropbox Integration, you can give its name as a value from fields from your forms or you can enter a custom name for it.
After those changes, your submission PDF will look similar with the following one (It is set as E-mail field from the form):
For further assistance, please do let us know.