How to avoid nested query in PostgreSQL

I managed to write this query:

INSERT INTO UserRoles (UserId, RoleId)
VALUES (@UserId, (SELECT Id FROM Roles WHERE Name = @Name));

And it works as intended. The problem is that I feel like this is a bad approach to write nested queries (here - find the id of a role in Roles table that matches the specified name). Is it possible to make this without the nested query?

Experienced programmers may laugh, but I am trying to learn this and I don't know how could I make this query better. I would be very grateful for your advice.