In this paper, we derive the dispersion equations for field-aligned cyclotron waves in two-dimensional (2-D) magnetospheric plasmas with anisotropic temperature. Two magnetic field configurations are considered with dipole and circular magnetic field lines. The main contribution of the trapped particles to the transverse dielectric permittivity is estimated by solving the linearized Vlasov equation for their perturbed distribution functions, accounting for the cyclotron and bounce resonances, neglecting the drift effects, and assuming the weak connection of the left-hand and right-hand polarized waves. Both the bi-Maxwellian and bi-Lorentzian distribution functions are considered to model the ring current ions and electrons in the dipole magnetosphere. A numerical code has been developed to analyze the dispersion characteristics of electromagnetic ion-cyclotron waves in an electron-proton magnetospheric plasma with circular magnetic field lines, assuming that the steady-state distribution function of the energetic protons is bi-Maxwellian. As in the uniform magnetic field case, the growth rate of the proton-cyclotron instability (PCI) in the 2-D magnetospheric plasmas is defined by the contribution of the energetic ions/protons to the imaginary part of the transverse permittivity elements. We demonstrate that the PCI growth rate in the 2-D axisymmetric plasmasphere can be significantly smaller than that for the straight magnetic field case with the same macroscopic bulk parameters.