Yes, you can withdraw your P.F. by submitting Form 19 and 10C, which can be downloaded from the EPFO website. However, you must submit an affidavit as prescribed by the P.F. department since you are claiming after three years. According to P.F. norms, if an employee wants to withdraw their ex-employer's P.F. accumulations after three years, they must submit an affidavit. You can get the affidavit format at the regional Provident Fund office.
I hope you are clear now.