Trimming 2 x apples trees

I have 2 apple trees, as the apples are used for cooking I am not too concerned about the quality.
What I would like to do though is keep them at a manageable size around maybe 8 feet tall and say around 6 feet width. I realise this is not the time of year to do it so will wait til later in the year.
Do I just `pinch` them at the height required?