I see now, I thought it was from Facebook itself. That’s what I get for answering before my first cup of coffee in the morning.
From your site are you using wordpress? if so ensure you using custom permalinks %postname%
- It will then produce the friendly urls that you seek.
If not then you need to generate friendly urls from your website for sharing the links.
Facebook will only share the actual link(s)
I hope this answers your question.