If you use Normal for regen and turn on Hold, then it will bring you to a complete stop and hold the brakes simply by lifting your foot off the accelerator pedal. It takes some practice but you can use this to stop at a light or stop sign with ease.
Depending on the roll required to arrive at the desired stopping point, you can use a slight amount of accelerator pressure to increase the rolling distance. You can use no accelerator pressure to decrease the rolling distance (assuming Normal regen is being used) or use some brake pressure for short rolling distances.