It looks like you can do it from MS Office SharePoint Designer. If you open the page in designer - expand lists - Right click on the list in question - Choose Rename - Rename it to what you want. This will change the list name in the URL. Also you can change the .aspx page that comes up by renaming the view.
If you are unable to use SharePoint Designer. Save the list as a template with content. Create a new list from the template with the URL you want. Delete the old list
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