I use the Yoast SEO plugin and it has really taught me a lot. I had basically no knowledge of SEO when I first started, but the tips you receive once you have written your blog post are extremely helpful.
Simple things like reminding you to use your keywords in the first paragraph, and keeping track of your keyword density etc give you the insights you need to create better content.
I'm only using the free version at this stage, but I will be upgrading to the premium version very soon, for even more functionality and SEO improvements.