If you want to change the slug of the Post post type to something like /posts/my-story/, there is no default way in the WordPress settings.  Changing the Permalink settings will changes Pages as well.

There is the hook register_post_type_args, which allows you to hook into a registering post_type and update values there. But updating the rewrite parameter for the post post-type does not work here for some reason.

So instead we can do something else.  Redeclare the post post-type.

Yes, that’s right, simply declare it again.

add_action( 'init', 'redefine_post', 1 );
function redefine_post() {
  register_post_type( 'post', [
    'labels' => [
      'name_admin_bar' => _x( 'Post', 'add new on admin bar' ),
    ],
    'public' => true,
    '_builtin' => false,
    '_edit_link' => 'post.php?post=%d',
    'capability_type' => 'post',
    'map_meta_cap' => true,
    'menu_position' => 5,
    'menu_icon' => 'dashicons-admin-post',
    'hierarchical' => false,
    'rewrite' => array( 'slug' => 'post' ),
    'query_var' => false,
    'delete_with_user' => true,
    'supports' => [ 'title', 'editor', 'author', 'thumbnail', 'excerpt', 'trackbacks', 'custom-fields',      'comments', 'revisions', 'post-formats' ],
    'show_in_rest' => true,
    'rest_base' => 'posts',
    'rest_controller_class' => 'WP_REST_Posts_Controller',
  ] );
}