I would start by saying that you do not require ADFS for Single Sign On with Azure AD. You can use the Azure AD Connect Seamless SSO option to achieve this. So the easiest way for you might just be to get rid of ADFS for Azure AD workload (such as Office 365).
Now, you can set up the trust on ADFS and update it in Azure AD using the Azure AD Connect wizard. Look at the section Modify the AD FS configuration.