By default, bbPress prefixes all forums links (forums, topics, views…) with the ‘forums’ prefix.
But, if you want, you can disable this, and instead URL’s like this:
You will have URL’s like this:
To do this, open WordPress Settings -> Forums -> Forum Root Slug and disable option Forum Prefix. But, doing this can cause problems with forum URL’s due to the conflicts with other plugins. It is recommended to keep the ‘forums’ prefix.