How to make an internal link to a heading in sphinx restructuredtext without creating arbitrary labels?

reStructuredText supports implicit hyperlink targets. From the reStructuredText quick reference:

Section titles, footnotes, and citations automatically generate hyperlink targets (the title text or footnote/citation label is used as the hyperlink name).

So the following text (lifted from the reStructuredText quick reference, spelling mistakes and all):

Titles are targets, too
=======================
Implict references, like `Titles are targets, too`_.

produces HTML similar to the following:

<strong><a name="title">Titles are targets, too</a></strong>

<p>Implict references, like <a href="#title">Titles are targets, too</a>.</p>