Hi josmiorion,
You can't remove the title. This is the inbuilt functionality of PDF viewer and handled by the browser itself. What you can do is you can hide the tool bar by setting the below properties.
toolbar = 0 : Hides the Toolbar
navpanes = 0 : Hides the Navbar
scrollbar = 0 : Hides the Scrollbar
Like in the below example.
<iframe id="iframePdf" runat="server" src="Test.pdf#toolbar=0&navpanes=0&scrollbar=0"
frameborder="0" allowfullscreen style="overflow: auto; min-height: 550px; height: 700px;
width: 100%;"></iframe>
For a full list of parameters refer the below link.
http://www.adobe.com/content/dam/acom/en/devnet/acrobat/pdfs/pdf_open_parameters.pdf