Hi Elias (&Umer),
We had this same issue in a project. What solved it for us was adding styling on your nav items which adds some spacing between your icon and your text. If these 2 elements have more spacing, the text will not show when the nav-bar is collapsed, and will be visible when the nav-bar is expanded.
Just remove the names (caption) in the navigation. Maybe good to add an alternative text for the users though.
Then yoou will see the icons only with a hover text indicating what the icon represents