When setting up a WordPress site I generally set these for Permalink Settings; /wp-admin/options-permalink.php..
As per WordPress, Permalink Settings
WordPress offers you the ability to create a custom URL structure for your permalinks and archives. Custom URL structures can improve the aesthetics, usability, and forward-compatibility of your links. A number of tags are available, and here are some examples to get you started.
Select the permalink structure for your website. Including the %postname% tag makes links easy to understand, and can help your posts rank higher in search engines.
I have selected /%category%/%postname%/, which in turn will reflect the hierarchical categorization(s) in the links to post and pages on the site.
This is the link to a post, that delimits the categories with slashes and importantly will also play a key role in Breadcrumb navigation which fosters site-visitor retention or more clicks.