Parent category

Hello,

Today I cretaed parent category for my category ex:

category/animals(parent)/dogs(child)

the problem is that now exists two links:

1) category/animals/dogs

and

2) category/dogs ->this is what Yoast shows me in my permalink when editing the category (and probably what user will search with google)

How can I have only the 1) ? I want full path for my subcategory when someone search the keywords in google

https://wordpress.org/plugins/wordpress-seo/

Thank you!