If you pedal leisurely at approximately 15 mph., then it should take you about 12 minutes without having to stop for various intrusions into your bicycling pleasure. ie; pedestrians, stoplights, animals, etc. to ride 3 miles.
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Depends on a lot of things, how fit you are, how hard you're trying, where you're riding, what bike you're using and so on.
On easily ridden roads, a pack of racers could do it in about 6 minutes. I'd need about 10. Some may need more