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As an ironborn I know you can raid someone who has one and if you sack the city that they're located in you can steal theirs but if they're leading an army you're out of luck to my knowledge.

You can also marry someone who has one then your kids should inherit it. Not 100% of the time, I know that some of them go to a dynasty member not the child, for example I married Jon Snow's bastard daughter who had Longclaw and on her death it passed to Sansa Stark as the last remaining Stark rather than her actual heir. (Bran, Arya and Rickon never revealed themselves)
 
I obtained one through the quest, is there any way to change its name into something more unique?
 
Do you have to be a certain rank? High paramount or whatever to get the ambition?