Renaming the iCloud folder in the Terminal, but not renaming the actual file itself
How about creating a symbolic link to that directory on your Desktop or in another easily accessible directory?

ln -s ~/"Library/Mobile Documents/com~apple~CloudDocs" ~/Desktop/iCloud


Note that you need to have the ~/ outside of the double quotes in order for the link to correctly resolve to your home directory, otherwise it will try to link to the literal directory ~ which of course won't exist.