The reason he keeps doing it is because he's allowed to, and because doing it is self-rewarding. Every time he does it, he feels good. The only way to stop him doing it, is to prevent him from doing it by keeping him separated when you can't supervise and on leash when you're around. Prevent him from being bad around them, and reward them any time he's good (lying or sitting quietly, ignoring them, looking at you, etc). Over time you will break the habit and he will stop doing it. Very important that he never gets to practise the unwanted behaviour though.