301 Redirect from http to https and new page name

Solution: 

You should be able to do using rule like this:

RewriteCond %{HTTP_HOST} ^(?:www\.)?(.+)$ [NC]
RewriteRule ^contact\.php$ https://%1/contact-us/ [R=301,L,NC]

Since your page names are different you will need multiple rules like this.

Make sure to keep these rules above all other rules.