This is one of those matters that changes around depending on the story. In the cartoon and current IDW comics, Optimus Prime was originally Orion Pax. In the cartoon, the Matrix "chooses" certain Autobots to be Primes. Optimus and Rodimus are the only ones we know of. Alpha Trion and Ultra Magnus were both carriers, but they weren't "upgraded" bodily by the Matrix upon receiving it and so didn't get a new name
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IDW's Rodimus Prime is an interesting case. Hot Rod assumed the name when he tried to form a breakaway group of Autobots after Optimus Prime gave up leadership (temporarily, it turned out). Even before Hot Rod tried to change his name, the Decepticons had captured the Matrix, so that had no role in anything; Hot Rod just apparently considered himself worthy of the Prime title, and he had some traitorous friends stroking his natural ego. As atonement for the subsequent disaster, Hot Rod went on a self-given quest to steal back the Matrix from the Decepticons who stole it. During the quest, the Matrix bonded with him, both spiritually and physically, and gave him minor powers as long as he had the Matrix fused to his body. When he returned to Earth, he gave the Matrix back to Optimus; Optimus accepted it, but also recognized that Hot Rod had grown as a person, and so officially dubbed him Rodimus Prime. (Optimus kept the Matrix.) They subsequently talked about how it feels to bond with the Matrix, and Rodimus said that it felt great and
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