changing my URL structure

How do I change my URL structure with Generatepress?

Lets say I have a website about laptops.

My current URL structure for categories is

mydomain/category/laptops/

When I click on the post 'best laptops' the URL is mydomain.com/best-laptops

What I want is when I click on the category 'laptop' my URL would be mydomain.com/laptops

Then when I click on 'best laptops' the URL should be mydomain.com/laptops/best-laptop

Please eleborate how I can do this.

Thanks.