if you're using wordpress, you probably mean permanent links. its use to turn your generated post links into a friend and readable link. check it under your general settings.
i think best is you redirect your dynamic URL on statics URL also submit static URL in submission so its useful in ranking and search engine crawl
URL optimization: Process of eliminating dynamic characters from your url and make a keyword rich reader friendly url
the best way to make dynamic url static is Masking which you do or your programmer do with some coding. URL Optimization include to make url SE friendly like www.url.com/keywords-Keyword.html. dont use _ in URL it is not SE friendly URL Structure