How to change the way to switch between apps
You can't - but why do you feel the need to 'close' apps - i.e. Force Quit them.

The only time you ever need to do that is if they stop responding correctly, the rest off the time they will be perfectly happy to sit in the background, until memory gets short, then they are quietly dropped from active memory, leaving only a small footprint until they are needed again.

If it's to prevent them from being active whilst in the background, then it would be better to switch off Background App Refresh, in Settings > General.