Mode Rewrite clean urls

Hi,

I am trying to clean some urls on my site,

For example I see that you can change

To something like:
http://yoursite.com/cooking/pasta/4

So if someone types in:
http://yoursite.com/cooking/pasta/4 he will be redirected to the second url at the top.

But I want the browser to show this:

As I understand this rule:
RewriteRule ^([a-zA-Z0-9-]+)/?$ /index.php?category=$1 [L,QSA]

takes a request with clean url and serves a GET format url.
But when I look on the net I keep on seeing those clean urls

I must be missing something…

Any ideas