Exposed filter cleaner URL
You need to set your Exposed filter Selection type settings to Autocomplete instead of "Dropdown" you will get term names instead of TIDs. 

Read more in part of this answer: How to use URL query parameter on a View Exposed Filter?

There is another way to do it: introduce the term information into the view through a Relationship so you can use the term Name. Read the steps in this answer: Get taxonomy name instead of id

That answer also mentions how you can "prettify" the URL: use the Query Parameters To URL module, it's being ported to D8.