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I have 2 3 year old apple cordons (dwarfing root stock).
I did not prune them last year during the summer.  Should I do so now?

I would leave it for now and catch up with the pruning in summer by cutting bit more back than you would normally.
If you do it now, its like winter prune and it may result with loads of unwanted regrowth. Summer pruning is more restricting and winter pruning bring out lot of new growth that is good when you want to renew some old or damaged branches.

Absolutely. I've got 12 cordons and don't touch them now unless you think they aren't growing! Get them next summer. Get a pruning book from the library or check online.

If your cordon apples are three years old you will need to prune the leading shoot as soon as possible to encourage the continued development of the rod. If you don't prune the leader it will likely produce a flower bud and stop growing.
I agree with the previous comments about the other shoots coming out at all angles and looking most untidy. Leave them firmly alone until the middle of August and then prune back fairly hard. Having neglected your summer pruning last August there will be a price you pay and this hard pruning may turn the tree off cropping for a year depending on the variety but so long as you keep your fingers off until mid August the price might not be too high.
There is a good guide on line at the RHS for pruning cordons.

If you still have no leaves on I would still take out the leader and shorten the side shoots (by up to a third) to stimulate fruiting spurs. If youve got plenty of spurs already and the leader is already out then there was probably no harm in leaving them anyway.

Heres to yummy apples in august/sept.
x Sunloving