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Otherwise you would do that in the bone menu
https://i.imgur.com/u1lSCn0.png
F2 is the general rename hotkey so you can use it on most items in blender.
https://i.imgur.com/nSwjgDm.gif
Context sensitive, you have to have your armature selected. If you don't have anything selected, there is only object mode.
Might want to go through some of this playlist: https://www.youtube.com/playlist?list=PLa1F2ddGya_-UvuAqHAksYnB0qL9yWDO6