Custom Permalinks For Specific Pages

Hi there,

The conventional permalink structure for posts is, "websitename.com/postname". Is there a way to create custom permalinks for each post (other than the conventional blog page).

For instance, the reference website link uses the permalink structure of "websitename.com/guide/twitter-marketing/postname" rather than just "websitename.com/postname". In other words, it has additional categories to bifurcate the section within the url i.e. guide & twitter marketing.

I found it similar in the generatepress documentation website as well, where the structure is "websitename.com/article/postname".

I wanted to know how to create such custom permalinks, by adding the section name between the "websitename.com" and "postname". Thanks.