So we can kill 2 birds with one stone then.
Your problem is the router forwards a hit on port 22/tcp (SSH) to the Pi 2 on 22/tcp.
Since indeed having 22/tcp open on the internet is quite unwise, have the router forward, say, 1234/tcp to 22/tcp on the Pi 2 and 6789/tcp to 22/tcp on the Pi 3.
You have to configure your client to use those ports instead of 22/tcp (I suppose it supports configuring the tcp port)
Absolutely disable login as the root user (since user "root" is a well-known) over SSH. Change the user "Pi" to some other name. Limit the number of users that have an account on the machine and can login. Use insanely long, truly random passwords for each account on each machine, or better use key/certificates to authenticate the SSH connection. Keep your system up-to-date as known OS security flaws are quickly exploited (by programs.)
Consider what could happen if someone were to become root on the Pi: destroy your files, install some listening software, attack other machines... Then take the appropriate actions to mitigate the risks: have a backup of your files, monitor what the Pis are doing/what your bandwidth consumption is regularly, move the Pis away from other valuable computers to another network...
The general idea is to get just slightly more paranoid than your neighbours. If your system is a little harder to crack and no more interesting than theirs, then it won't be (statistically... I'm not promising anything

) So don't boast too much about your network as Marcus says: defense against random, brute force attacks is possible, it is a statistical thing. Defense against a social engineering attack (like: your password is your dog's name that's plastered all over your FB account) is extremely difficult.
Don't go over the top either with "security" measures. There is nothing worse than a badly executed or ill-maintained "secure" setup: you stop feeling danger yet the risk is still there so you're ripe to get caught off-guard.
What you need is to balance risks and remedies, and most importantly, reconsider your options regularly.