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As for your question, try the following code.
Note: I am assuming that A21 does not contain the .pdf extension. If it does, you should be able to see how the file name was built by the code and modify it to work.
Dim Fname As String
myFname = Sheets("Form 16").Range("A21")
Sheets("Form 16").ExportAsFixedFormat Type:=xlTypePDF, Filename:= _
"C:\Users\Rajesh\Desktop\" & myFname & ".pdf", Quality:= _
xlQualityStandard, IncludeDocProperties:=True, IgnorePrintAreas:=False, _
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