The Yoast SEO plugin has the ability to control the title settings through the use of the title template settings in SEO>Search Appearance. If you do not input a value into the ‘SEO Title’ field of the Yoast metabox, the plugin will default to the title template. This way a meaningful, appropriate title is still generated for the page even without any additional customization. We also have additional information on using the title template variables available at the following link: https://kb.yoast.com/kb/yoast-wordpress-seo-titles-metas-template-variables/
There is not currently a template variable for the page URL, however there are a number of filters documented in the plugin code for developers to programmatically change the template variables and we have more information on that here: https://kb.yoast.com/kb/yoast-wordpress-seo-titles-metas-template-variables/#filter