URL management / readable URLs in visual force

You can do URL rewrites with Apex. See https://developer.salesforce.com/docs/atlas.en-us.apexcode.meta/apexcode/apex_site_urlRewriter.htm for a good explanation of how to do this.

Assuming you are using Force.com Site for this, you can customize the url to your hearts content as long as you register your Force.com domain for your organization. You can do so under Setup -> Develop -> Sites. Then setup a redirect from your domain name to this custom url.

Check out the Sites FAQ for more info.