When you pay off the car, the lender will send the title or a statement of lien release to you.
In states where the lender holds the title until the loan is paid off, they will send the title to you when you pay off the car, marked as free and clear of any liens. In states where an individual holds the title rather than the lender, the lender will send a document of lien release, stating the car no longer has a lien.