One way of getting the variable names you want in the plotted tree is to change the names of the variables in the
original data.  For example:
data(ptitanic)
mytitanic <- ptitanic
colnames(mytitanic) <- c("passenger class", "survived", "sex",
  "age in years", "number siblings or spouses",
  "number parents or children")
tree1 <- rpart(survived~., data=mytitanic)
rpart.plot(tree1)
Another way is to use the split.fun argument.  For details see the
vignette
for the rpart.plot package Section 6.1.  For example:
data(ptitanic)
tree2 <- rpart(survived~., data=ptitanic)
split.fun <- function(x, labs, digits, varlen, faclen)
{
    # replace variable names in the labels
    labs   <- sub("pclass",   "passenger class", labs)
    # labs <- sub("survived", "survived", labs)
    # labs <- sub("sex",      "sex", labs)
    labs   <- sub("age",      "age in years", labs)
    labs   <- sub("sibsp",    "number siblings or spouses", labs)
    labs   <- sub("parch",    "number parents or children", labs)
    labs # return the modified labels
}
rpart.plot(tree2, split.fun=split.fun)