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You can try editing the "Title" and the "Page" text in your form's preferences:
You can also use the "Share Form" button under the "Publish" wizard.
However, unfortunately, it is not possible to edit the text description "Please click this link to complete this form".
You might also check this guide and see if it helps: http://www.cnet.com/how-to/how-to-share-a-link-on-facebook-without-sharing-the-actual-url/
You can also use 3rd party link generators to make a custom link with custom titles on them, here are some that I found:
I hope that helps.