To do such thing, you will have to code your own language switcher. If you are a php programmer, it should not be too difficult. In that case, to help you starting, here is how to get the translations of the current page:
global $polylang;
foreach ($polylang->get_languages_list() as $lang) {
// use $lang->name to get the language name
// use $lang->slug to get the language code
$url = $polylang->get_translation_url($lang);
// $url === null if there is no translation available
}