Place in a large pot with lid, water so the level is about an inch below the steamer basket. Into the water place the garlic, bay leaf, and cloves. Place artichokes base down into the steamer basket. Cover and simmer for 40 to 45 minutes.
While artichokes are cooking, mix in a small bowl the non-fat yogurt, mayonnaise, Worcestershire sauce, and garlic pushed through a garlic press. Whisk together and refrigerate.
When artichokes are done, serve with a quarter cup of sauce on the side with each one.