Hopefully this will help with getting the label names dynamically. Planner has horrible output when it comes to labels.
For this example, I've got the following Planner tasks.

And my SharePoint List contains the Title and a Multi-select Choice Field since you can add multiple labels to each task.

The full flow is below (excluding your deleting the existing items). I'll go into each of the actions.

List tasks returns all the tasks from my Planner.

Get plan details retrieves the categories (labels) that we have available for our Planner. We will use this to get the actual label names. You could just add the plan Id manually, or what I've done is get the first task and retrieve the plan Id from there. The expression used is:
first(outputs('List_tasks')?['body/value'])?['planId']

If you look at the body returned, you'll see the categories.

XML Plan Categories converts the categoryDescriptions JSON to XML so we can retrieve the values later. The expression used is:
xml(json(concat('{"root": { value:', outputs('Get_plan_details')?['body/categoryDescriptions'], '}}')))

This will give us the following XML output:
<root>
<value>
<category1>Cool</category1>
<category2>Nice</category2>
<category3>Awesome</category3>
<category4>Amazing</category4>
<category5>Great</category5>
</value>
</root>
Apply to each iterates through each of the tasks from our List tasks.

For each task we use Get a task to get the categories (labels) for the task.

XML Task Categories converts the Task Categories to XML so we can use XPath. The expression used is:
xml(json(concat('{"root": { value:', outputs('Get_a_task')?['body/appliedCategories'], '}}')))

Select Categories uses XPath to retrieve each of the category labels. The following expressions are used for the input and Value respectively. Note that we need to use Value for the Map name as this will be used to add the label names to our SharePoint List Multi-select Choice field.
//input
xpath(outputs('XML_Task_Categories'), '//value/*')
//Value
xpath(outputs('XML_Plan_Categories'), concat('string(//value/*[name()="', xpath(item(), 'name(//*)'), '"]/text())'))

Filter array Categories removes any categories that were empty. This will happen when someone selects a category that you haven't named in your planner. The expression used here is:
item()?['Value']

Finally, Create item will add the task to the SharePoint List. Note that the Label field uses the output from the Filter array Categories - and you will need to go into array mode (see arrow on screenshot below).

After running the flow, I get the following items created in my SharePoint List.

The benefit of build the flow to dynamically get the label names is that if you update or add new categories in your Planner you won't need to update your flow as it will automatically pick up the changes.