Use WordPress default function to get next and previous post title with permalink something like this:
<?php // FOR PREVIOUS POST
$prev_post = get_previous_post();
$id = $prev_post->ID ;
$permalink = get_permalink( $id );
?>
<?php // FOR NEXT POST
$next_post = get_next_post();
$nid = $next_post->ID ;
$permalink = get_permalink($nid);
?>
Then just use this variable in your HTML structure like below:
<div class="next-timeline">
<?php next_post_link( '%link', __( 'Next <span class="meta-nav">→</span>', 'twentyeleven' ) ); ?>
<h2><a href="<?php echo $permalink; ?>"><?php echo $next_post->post_title; ?></a></h2>
</div>
<div class="previous-timeline">
<?php previous_post_link( '%link', __( '<span class="meta-nav">←</span> Previous', 'twentyeleven' ) ); ?>
<h2><a href="<?php echo $permalink; ?>"><?php echo $prev_post->post_title; ?></a></h2>
</div>