If you can, simply change your page link field type to a Post Object. You can then set your post type in the settings to page which will give you the same page selection on your form. You can then use the code below to get the title as you wanted.
<?php
$links = get_field('procedure_list');
if( $links ): ?>
<h3 class="procedures-menu_header">Procedures</h3>
<ul class="procedures-menu_list">
<?php foreach( $links as $link): ?>
<li>
<a href="<?php echo get_permalink($link->ID); ?>"><?php echo get_the_title($link->ID); ?></a>
</li>
<?php endforeach; ?>
</ul>
<?php endif;
?>
