Yeah, they all have unique names and, if you don't have one in mind, you can just get one recommended to you by the game based on what kind you want, where you're located, and how full they are.

Otherwise, since you've got a lot of people already inviting you to some, you can just scroll down the list and find it, easy-peasy. (Like Beth said, we're mainly situated on the one named Zangamarsh.)