MacOS – Minimising App Windows Into their Respective Icons On The Dock To Create Less Clutter

The Dock is a fundamental part of using OS X, however I have some frustrations with it:

As we know the Apps themselves are located on the left of the divide** separated from the "stacks" and trash can.

Whenever I minimise an App window, it always minimises itself to the right section of the dock (where the trash can and "stacks" are located). However if I have several App windows open, the dock becomes very cluttered and full looking in appearance.

Is there a way to minimise an App window such it becomes minimised into its own App icon on the dock rather than taking up space over on the right hand side and creating a clutter. Moreover once this has been achieved, in order to maximise the window again, you just click once on the App icon – hey presto – maximised. If i'm making sense ?

** I don't know if there are official terms for the division of the dock into where the Apps are situated on the left, "stacks" and trash can on the right.