At some point in the day, at not at night or near bedtime... let them get all their yah-yah's out.
Physically wise.
Young boys/toddlers are like wild horses.
My son, is like that. He is 4.
He still seems to hit a 'witching hour' in the evenings, after my Husband gets home from work.
He gets SO physically active, like your boys. But for my son, it is mostly when he is OVER-tired. When my son is over-tired, he either turns into a Mega Troll, or he gets more HYPER. Not 'naughty'... just really active.
BUT... when I get him fully engaged in the mornings, outdoors, running and playing and doing large motor-skill stuff.... it really helps.
He really needs it.
So I usually do this every morning. Before lunch.
Or, you have a STRUCTURE to things, in the evening. So the boys are not just having to entertain themselves, aimlessly.
Give them 'chores' to do in the evening or other things.
"Aim" them, in the direction you want them to be in. Activity wise.
Structure them.
Have a schedule.
Also, tell them, "Okay, horse-play for 15 minutes. AFTER that, it is wind-down time."
That way, you are not 'having to' tell them every 3 seconds to be quiet or to stop being active.
For me, I know my son WILL become calmer, after he gets out his yah-yah's. And he does.
And for some reason, after his bath, he is always, so darned active and more rascal. Ugh.
And yes, maybe do get them involved in a class. If you have the time/energy to take them to it after-school or in the evenings.
My Daughter takes Karate. Loves it. But it is in the evenings. Then we come home and the timing of things on those nights... gets much later, including bedtime and dinner time and bath time and winding down.