How to customize the Menu Icon Title?

To add a Title for the Menu the following steps:

Step 1: Select "Settings" on the left panel.
Step 2: Click on the "Logo&Title " tab

Step 3: On the top panel select the "Menu icon"
Step 4: Turn the "Show Title for menu icon " selector on.

Step 5: Type your title.

The Menu Icon Title will not available while the burger animations are on.

How to turn off burger animation, read here.