Hi Rick!
You’re absolutely right – The Events Calendar is a bit tough when it comes to SEO, however, if you watch some of Yoast’s videos on wordpress.tv and read his recommendations, (and that of other SEOs, like John Chow), they tell us to actually not try to index category archives, because it can cause duplicate content with the actual post. Yoast has settings to disable the indexing taxonomies and categories.
For some URL optimization though, you can define the slug in the Event Categories area. I also have define my URL in the Events Calendar settings area, under the WordPress “Settings” menu.
I had a look, and the Events Calendar does pull the title of the event to make a title tag. To customize the title tags, you could probably use the Custom Fields area to define a title and description. You could look up the specifics on how to do this at wordpress.org
Hope this helps!
Joyce