I was searching for that video but couldn't find it. You can keep it small but you have to start training it early. If you have a vigorous variety like Kohala, you may want to cut the main trunk back to about 18 inches in order to stimulate very low scaffold branches. When these lower scaffold branches start growing, you want to tip them to form low secondary branches but make sure you tip to an outward facing node.
Some varieties, most varieties, will not grow as vigorously as Kohala. You may want to start with a variety that can be kept smaller easier like Sri Chompoo or Biew Kiew.