You can do this in single filter step:
requiredCars = cars.stream().filter(c -> c.getName() != null && c.getName().startsWith("M"));
If you don't want to call getName() several times (for example, it's expensive call), you can do this:
requiredCars = cars.stream().filter(c -> {
String name = c.getName();
return name != null && name.startsWith("M");
});
Or in more sophisticated way:
requiredCars = cars.stream().filter(c ->
Optional.ofNullable(c.getName()).filter(name -> name.startsWith("M")).isPresent());