Yes, boys!
Boys are very physical, very kinesthetic, and move move move around a lot.
Thankfully, your boys like each other, or it would be worse.
And they do obey the 'rules' well for their ages.
Yes, boys rough-house.. the make noises, and are like cave-men!
I have a son and a daughter. My son is like that. He's a great boy... but a boy. When he and my Hubby 'play' together, it is like watching 2 kids. Even my daughter rolls her eyes and says "boys...." LOL
My son is only 3.5 and he doesn't know he's being like that, to him he is just having fun.
And, I play "boy" with him too... since I am home with him. But we do any kinds of activities, non-gender. But he wears me out.
My Hubby, grew up with ALL boys... and well, it was just like you described! What fun!
It is just they way they are... so flow with it.
There are also great books on 'raising boys' which you can check out from Amazon and read the reviews. Just input the search 'raising boys.'
Your boys sound like gems. And great boys.
Maybe have a routine with them. In the morning, boys do need to get their yah-yah's out... then maybe in the afternoon, you can have a "quiet time"... and then do quiet things. They are old enough to understand that.
Or for me, (my kids are 3.5 & 7) I actually tell them "Mommy NEEDS some quiet/rest now.... this is quiet time...." and let them key down. Or do things more mellow. If you need a "break."
all the best,
Susan