CakePHP 2.4.9: Best convention for referencing sub-classes in a model from the view?

OK so I have 2 tables, Posts and Categories.

I put Post belongsTo "Category" and Catagory hasMany "Posts" in my model. I believe my tables are set up correctly in the database as well, with proper pluralization and naming conventions. 

Now I know I have to set up something in the controller before I can put things in the view, so what would I put in the controller in order to reference say, a Category with category_id X's name property  and then put that in the view?

I'm trying to do something like <?php echo $post['Post']['category']['name']; ?>

I get

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