I have limited screen place, and I'd like to know how I could remove the title bar.
I use hotkey to close, maximize, etc. anyway.
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Edit 2018-01-31: Please note that a 4-years-later/now-higher-voted answer notes a built-in XFCE setting now available, which is probably a better option for many.
Try the maximus package? Here's the package description:
A desktop daemon which will automatically maximise and, optionally, un-decorate windows. Has support for exclusion lists and will work with any EWMH-spec compliant window-manager.
sudo apt-get install maximus
I believe you'll need to add the maximus command to your startup programs, as it does not automatically run at boot on its own.
There's also this idea, to integrate title bar stuff into the top panel: http://xflinux.blogspot.com/2011/01/maximise-vertical-space-in-xfcexubuntu.html
I had the same issue with the titlebar and I solved it to a good level this way:
This way, the titlebar is just hidden below the panel. Benefits of such approach:
The bad thing is that it feels like a hack. I searched this topic because I wanted to find an xfce setting for this (failed yet).