It sounds as if you are in the lucky and somewhat rare position of being in a family in which the members are able to work together well and with
understanding. So there is a chance that you could mange the condo rental and banking without a question and without a hitch.
However, the condo account still technically belongs to your parents, so it is legally preferable to address that, as you seem to intuit. To find out the right way to proceed, you will need to find out your parents’ wishes for the money in it—whether they want to have access to it during their lifetimes or have specific plans for distributing it after their deaths.
You did not mention being named the agent for both your parents in a financial power of attorney, which can sometimes help to make the matter more clear. If there is no power of attorney in place that empowers you to act for both parents, then a possible option would be to put the account in both their names, with you as an authorized signature. Another would be to put the account in their names and your name jointly, if they intend for the money to pass to you at their deaths.