Nope, not read it, and yeah, it might have been Europa.Isn't Titan one of Saturn's moon ? I think you might be talking about Europa, right ? Europa has supposedly an ocean of water hidden under a thick layer of ice. I think it'd make a whole lot of sense to find some life underneath the surface.
Did you read the sequel to 2001: A Space Odyssey ? It was 2010: The Year We Made Contact. Pretty cool book, a classic.