From your exmaple you already know the post id so you gain nothing by
effectively doing a complex query incolving both posts and comments.
A separate query for comments is definately the way I'd approach this.
Queries generally return a list of objects of a particular type
matching the query criteria - not a whole pre-filtered object graphs
setup to match the details from the query criteria.
Once you access an object returned by a query, you'll get whatever the
mapping for that object is setup to give you. As you say, you could
use a filter on the mapping but that filter would be applied every
time you load a post and then access its comments.
Hope this helps,
Brendan