I support what Diggeroo has said, different sorts of apple react very differently to pruning. For example a James Grieve is very tolerant of ham-fisted ill-timed pruning and will continue to produce a crop despite appalling incompetence in management, whereas one false or ill-timed step with an Early Worcester will forfeit next years crop, sometimes two or three years. Pears are reasonably docile.
Green Lily is correct that the normal way to restrict growth is by summer pruning, there is an RHS fact sheet on it, the posh name is the Modified Lorette system. The system is reasonably straightforward and very successful provided that above all you don't prune too early in the season, early August is quite soon enough. This means your trees look untidy throughout June and July, so you have to make up your mind do you want them to look neat and tidy this year or do you want a crop of fruit next year.