To provide more prominent previous/next links, I use wp_link_pages twice - once to show just the previous/next links right after the preceding paragraph, and again at the foot of the post to show the pages numbers.
When viewing as a single page, a 'previous' link is still shown. Presumably this can be removed with some conditional statement, but I've no idea how.
More importantly, it tries to link to a non-existent -1 page.
http://wordpress.org/extend/plugins/page-links-single-page-option/