On iOS 8 it was Settings > FaceTime > iPhone Cellular Calls.
On iOS 9 the setting was moved to Settings > Phone > Calls on Other Devices.
Changing those settings should stop the phones from ringing. It will not stop the calls from showing up in Recents. The only solution for that which works consistently is to use separate Apple IDs. Some users have reported that turning off Handoff solved it but for others it did not. As Apple continues to sync more and more things via iCloud, using separate Apple IDs becomes more and more advisable. Some of the past reasons not to are offset by new Family Sharing features: http://www.apple.com/icloud/family-sharing/