Add nav to your service config:
'navigation' => function($sm) {
$navigation = new \Zend\Navigation\Service\DefaultNavigationFactory;
$navigation = $navigation->createService($sm);
/**
* Do extra work here with the nav at instantiate time..
*/
},
or more simply:
'navigation' => 'Zend\Navigation\Service\DefaultNavigationFactory'
Now you can fetch the items you want to change like this:
$nav = $this->getServiceLocator()->get('navigation');
$page = $nav->findByLabel('My Label');
$page->setLabel('New Label');