Chenzo is correct, install the SEO Ultimate plugin as this does wonders for deep editing of titles and descriptions for categories/tags and more. There is a setting that you can rewrite the URL from categories in the url to a specific post url.
I usually avoid having categories in the URL due to the issue you describe above of having multiple categories, I use a rewrite to just have a url such as /blog/post-name/ instead of /blog/category/tag/post-name/.