Add post type titles in customizer dropdown list

Ok I found it, here is the answer for next ones who are looking for the same thing:

$cf7forms_list = array();
$args = array('post_type' => 'wpcf7_contact_form');
$cf7forms = get_posts( $args ); 
foreach($cf7forms as $cf7form) {
    $cf7forms_list[$cf7form->post_title] = $cf7form->post_title;
}

$wp_customize->add_setting( 'contact_list_section', array(
    'transport' => 'postMessage'
));
$wp_customize->add_control( 'contact_list_section', array(
    'label'    => esc_html__( 'Contact form', 'mytheme' ),
    'type'     => 'select',
    'section'  => 'contact_section',
    'priority' => 4,
    'choices'  => $cf7forms_list,
));