url with name of post in it

Hello lovelies,
Thanks for all your help so far, am v pleased with how it’s going! https://www.eversostrange.com/
Just wondering if it’s possible to set the blog so that the name of the post / category is in the url
eg for the last post to be https://www.eversostrange.com/maneatingplant rather than https://www.eversostrange.com/?p=200
and also for the catergory to be https://www.eversostrange.com/animals rather than https://www.eversostrange.com/?cat=6
Cheers!