In flarum, "posts" are analogous to WordPress's comments/replies. I think what you're looking for is "discussions", which do have a title column. They won't have a body column, but that's because the content/body of a discussion is actually stored as the first post in the discussion. The discussions table has a column thats a foreign key to the Id of the first post.
Now, you could retrieve discussions and their first post content directly via SQL with a simple join, but keep in mind that the post content is stored in a special format used by our formatting library. For this reason, it might be preferable to get it from the API, so that its returned as HTML. For easier interactions with the API, the API client php/composer package would probably be very useful.
If you just need a link to the discussion and not the content of the first post, it can be assembled via https://your.website.com/d/NUMERICAL_ID_OF_THE_DISCUSSION. You can also include a transliterated slug after a dash after the numerical ID but that's optional.