Best bet is to connect the Express to the Comcast router via Ethernet. If direct cable is a challenge, Powerline adapters are pretty decent ways of getting Ethernet to other rooms (but don't go cheap, older, cheaper models have limited bandwidth).
The next question is WiFi itself. Your options are to use the same net name (SSID) and password, or separate. To ensure you connect to one over the other, different network names might be a better solution. Many devices can "remember" multiple networks (Macs, iOS, PC), but some may only be capable of storing one network. If the device is stationary, pick which network is best in that location. If mobile, program them both into the device and it should connect to whichever network is stronger.
Connecting Express wirelessly is likely to be problematic. It should work, but you lose a lot of capacity. Ethernet is pretty foolproof provided the Express is not attempting to be a router (more below).
On the Express Network tab, set the Router Mode to "Off (Bridge Mode)". This ensures any client connecting to the express simply gets traffic passed to\from the router without using NAT, and avoids duplicate DHCP servers on your network. Failing to do this will result in very wonky results.
On the Wireless tab, use "Create a Wireless Network" for Network Mode.
I am aware of certain ISP routers that don't play well with other Access Points (or Routers in Bridge Mode). I don't think Comcast routers are guilty of this, they tend to be Linksys or Netgear based as I recall.
Finally, two networks can create contention for access in areas where both signals are present. If you manually set the channels on both 2.4 and 5Ghz to be different on the router and Express, your speeds will tend to be better. In 2.4 frequencies, use channel 1 and 11 (6 tends to be where neighbors and other signals like microwave operate). On 5Ghz, you have a few more options. Consult the comcast support site for how to set channels manually on their router. On the Airport utility. click the Wireless Options button near the bottom of the Wireless tab and set the channels. Also, radio mode can be set here, use the default (Automatic) for best results.