I can imagine how scared you were for the dogs. I've had a rottie and now own a mastiff and OMG I really would have been terrified. So I can't blame how you reacted.
All that matters is that you and those two sweethearts of yours are fine.
I agree with Pat, I'd call animal control. These are two very large dogs and have no business being out of their yards.

Lots of hugs to you and the puppers.