Pruning Apple & Pear trees

Hi ,
This is my 1st post and thanks for accepting me on board
I have an apple tree and two pear trees all about 4 yrs old.
I was after some advice of how to prune them as the apple tree had a crop of over 30 apples last year BUT the branches were sagging to the ground !
The pear trees haven’t produced any fruit yet and again need advice on best way to prune the as they’re growing tall rather than “bushy”
See pictures attached

 

Observations:
Trees planted in the shadow between house and high hedge, limiting light and causing vertical extension.
As you report, weight of fruit causing bends, which can become broken branches. This is a result of too much vertical growth, rather than girth.
What to do:
Cut the highest tips off above a outward growing bud, to reduce by 1/3rd .
Allow to blossom, review crop in May and remove excess fruit to lessen weight (yes it hurts to do this.)
In July/Aug , review new growth and prune for FRUIT
In Jan prune for SHAPE (and air/light, to create 'wineglass' profile)

See RHS guide to pruning:
Getting started in pruning | help & advice on how & when to prune plants / RHS
Do you know which rootstock trees have?; to give indication of eventual height.
In my view, fruit above reach height are a liability !