Hi saya6k,
Is your iCloud account the same as the Apple ID signed in when checking Settings > [your name] > Password & Security? If so, you can add the security key after by following the steps below found in the article here: About Security Keys for Apple ID - Apple Support
"Add security keys to your account
You can add security keys only on an Apple device with compatible software. You must add and maintain at least two security keys. You can add up to six keys.
You need a passcode or password set up on the device that you use to add security keys.
During set up, you're signed out of inactive devices, which are devices associated with your Apple ID that you haven't used or unlocked in more than 90 days. To sign back into these devices, update to compatible software and use a security key. If your device can't be updated to compatible software, you won't be able to sign back in.
On iPhone or iPad
- Open the Settings app.
- Tap your name, then tap Password & Security.
- Tap Add Security Keys, then follow the onscreen instructions to add your keys.
- Review the devices associated with your Apple ID, then choose to:
- Stay signed in to all active devices.
- Select devices that you don't want to continue to have access to your account and sign out of them.
To stop using security keys: Open the Settings app, tap your name, then tap Password & Security. Tap Security Keys, then tap Remove All Security Keys. If you remove all security keys, your Apple ID reverts to using the six-digit verification code for two-factor authentication."
You can also find helpful information here: Use security keys to sign in to your Apple ID account on iPhone, and here: Make your passkeys and passwords available on all your devices with iPhone and iCloud Keychain
Cheers.