How to remove post page number in the URL

I am using WordPress, and wordpress has this function to let you separate a single posts into multiple pages.

The issue that I am having now is that when the user nagivates to page 2, the URL will become http://www.domain.com/post-title/2/ instead of staying at http://www.domain.com/domain-title/

Just to clarify, since I used <!–nextpage–> in my longer posts, so for 1 post, I would have say…a couple of pages like:

http://www.domain.com/post1/
http://www.domain.com/post1/1/
http://www.domain.com/post1/2/
http://www.domain.com/post1/3/

I am using Nginx btw. Thanks!