Your photos show trees that are fairly sparse. Many of your branches already only have 2 leaves left on them. You will get better ramification, if you grow through cycles of allowing the trees to expand, and bush out, then cut back to only 2, then allow the tree to grow and bush out. Then cut back again. Each cycle of growing out, allow 6 or more inches of growth to be added before beginning a prune cycle. Allowing growth will allow the tree to accumulate energy which will give you better back budding and ramification response after pruning. Depending on your climate, once a year, to 3 or 4 times a year would be the cycle. Never more than 4 times a year even in southern Florida. The further north or the cooler your climate the fewer times per year you should have a pruning session.
IF you prune continuously, every time a branch grows just a few leaves, you will slowly weaken your trees.
Just trying to help. Zach gave you an excellent explanation of ramification.