the php and ID links are permalinks.
a permalink is a link to specific article, the link to a specific CMS Content page uses the ID ULR variable as the permalink.
you may asking seo frienldy URLS?
if so that is accomplished using a mod_rewrite and .htaccess, here a page i found through google for more information:
using-mod-rewrite-to-convert-dynamic-urls-to-seo-friendly-urls