attachment – link to page

sometimes when I attach a image to a post, and if I link it to page, the link url has attachment_id=123, but sometimes the link url has the category, post name, “attachment”, and picture title. My problem is that most of the attachments seem to have attachment_id, but I want the other way. What should I do to ensure that the attachment link url is like this:

domain.com/category/wonderful-blog-post-title/attachment/picture-title