How to prevent to create same url of post, if the previous was deleted?

Let's say I'm creating a post, it's URL will be:

www.example.com/posts/test-article

so far so good. Then, I delete it and also remove from trash bin. Again, I create with the same title, and the URL will be:

www.example.com/posts/test-article

that's no good, I would like to get:

www.example.com/posts/test-article1

and so on. How to achieve that?