You can match your category's event title font color to your category legend color.  The general approach is to pick a color you like for your event titles and legend and then use the same hex color code for each. 

1) Go to Admin Menu > Categories > Add or Edit a category

2) Set your Legend Color.  Click the Legend Color  [pick color] button.   Pick a color dark enough that is can be used for event titles too.  Copy the color code.  Be sure to click "Choose" for legend color.

3) Click the Multi-Colored T to open the font color selector.  Now let's set the font color to match the legend color by pasting the legend color code into the font color selector.  Click Choose.  See below:

3) You're done!  Your default category font color and legend color match.  Tweak colors as needed.