Duplicate posts with two url address

Hi friends

I use this permalinks for urls of wordpress posts :

/%post_id%/%postname%

but urls opened with /%post_id%/ too without redirect to /%post_id%/%postname%.

example :
https://www.nobaraneh.com/33533/test
https://www.nobaraneh.com/33533
Two url go to one page. this duplicate urls and very bad for seo.