Height is usually controlled via summer pruning. If you cut the plant back while growing in summer it can help stunt the tree and keep it smaller. Wherever you cut it it will likely branch out below that. If you don't want those branches cut them off.

I've pruned my sweet cherry to an open-centered/vase shape like I pruned a peach tree as I want it low. After 5 years, my cherry trees are about 8 ft tall. But my trees are not Gisela 5 rootstocks, a dwarf rootstock to begin with.

The KGB style cherry tree pruning is also interesting. Here's the link.

https://www.youtube.com/watch?v=AsGfRdHM2jU. 

Although, you trees may be a bit older to start. If you really want to keep them low, you should consider either method. they may not look good the first few years but they will work out in the end.

You do not say what rootstocks your trees are on. A cherry trees can grow to 30 ft. That's when all the birds in your neighborhood will love you.