Add either:
+ scale_fill_discrete(name="Title", labels=c("1","2","3"))
or
+ scale_colour_discrete(name="Title", labels=c("1","2","3"))
depending on the geom.
I recommend you look into the ggplot2 cheatsheet. https://www.rstudio.com/wp-content/uploads/2015/03/ggplot2-cheatsheet.pdf