How to open multiple URLs with cURL without delay

I was wondering if it's possible to open multiple URLs with cURL or maybe something else.

I tried this until now.

$urls = array(
          "http://google.com",
          "http://youtube.com",
          );

foreach($urls as $url) {
    $ch = curl_init();
    curl_setopt($ch, CURLOPT_URL, $url);
    curl_setopt($ch, CURLOPT_HEADER, false);
    curl_setopt($ch, CURLOPT_RETURNTRANSFER, true);
    curl_setopt($ch, CURLOPT_CONNECTTIMEOUT,0);
    curl_setopt($ch, CURLOPT_TIMEOUT_MS, 200);
    curl_exec($ch);
    curl_close($ch);
}

The 200ms are there to let the site open fully. Maybe you know any alternatives.

Is it possible to open multiple URLs in PHP at the same time? Not client sided, server side.