Let $X$ be an arbitrary object in $\mathcal{C}$.
I write $\{ W, F \}$ for the limit of $F$ weighted by $W$.
By definition,
$$\mathcal{C} (X, \{ W, F \}) \cong [\mathcal{I}, \textbf{Set}] (W, \mathcal{C} (X, F))$$
naturally in $X$.
If we have $U \Rightarrow W$ (note the direction!) and $F \Rightarrow G$ then functoriality of $W$ and $F$ on the RHS gives a map
$$[\mathcal{I}, \textbf{Set}] (W, \mathcal{C} (X, F)) \longrightarrow [\mathcal{I}, \textbf{Set}] (U, \mathcal{C} (X, G))$$
natural in $X$.
Applying the definition of weighted limit, this can be identified with a map
$$\mathcal{C} (X, \{ W, F \}) \longrightarrow \mathcal{C} (X, \{ U, G \})$$
natural in $X$.
Now apply the Yoneda lemma to obtain $\{ W, F \} \to \{ U, G \}$.
In short, $\{ W, F \}$ is contravariantly functorial in $W$ and covariantly functorial in $F$.
Incidentally, it is not necessary to hypothesise completeness – you have this morphism as soon as the weighted limits in question exist.