The Quick Way: Renaming a PDF in Finder
Open Finder and find the file. Control-click it, or right-click if you've got a mouse with two buttons. Choose Rename from the shortcut menu that pops up. The filename turns into an editable text field right there in the window. Type in the new filename and press Return.
That's the whole method. No app to open, no menu bar to hunt through. It works for any PDF sitting in any Finder window, and it's the fastest option when you're dealing with one file and you already know what to call it.