1. Don’t do titles (although more likely not really an option)
2. Remove the title code from the theme files
3. Using a plugin
Option 3 is usually what people have done, and even though there apparently are plugins that can remove titles, I do not know of any off the top of my head, so it’s a case of searching the plugins directory at wordpress.org for one. However, if you do not plan to “ever” use titles on “pages”, the other option of course is to modify the theme files by removing the title code.