Should access point SSID/key match main router's?

I have just purchased a WRN2000v3 wireless router to use as an access point to extend the range of the wifi router supplied by my ISP (Verizon FiOS). The routers are connected LAN-to-LAN by ethernet cable, as described in Netgear's instructions.

Am I correct to use the same SSID and WPA key for both routers? This makes sense to me so that hand-held devices can communicate with whichever router has a stronger signal as I move throughout my house, but I have not seen any instructions on Netgear's website that suggest doing this.

Thanks for any advice.