I have 7 devices plugged into my development machine.
Normally I do adb install and can install to just a single device.
adb install
Now
Since I can't comment on the answer by @Tom, this worked for me on OSX 10.13
adb devices | tail -n +2 | cut -sf 1 | xargs -IX adb -s X install -r path/to/apk.apk
(Change the little i to a big I)