How do I sort my posts

Im new to WordPress and still getting the hang of it. Let’s say I want to post something title how to bath a dog. I want the post to be in my website like this – Mammal > Dog > Dog Care > then post name. Do I use categories or tags. How can I sort my post to appear like this so when u click mammal. And if I click dog care All posts under it will show including the post I just wrote. But if there’s another section named dog food the post won’t show: please help


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