You can use the YeastMine tool available at SGD to retrieve the GO term names for each ID. Here is how-
- Go to - http://yeastmine.yeastgenome.org/yeastmine/bag.do
- In the Select Type pull down, scroll down and select GO term
- Enter your GO ids or upload a list in the full format (GO:0016020, GO:0016301..)
- Click on Create List and you should be able to create a list of GO IDs, Term name, Definition, aspect. The tool offers several options to download the list.