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Nothing in the book, and 3 yrs/30k miles sounds like a ripoff unless something is getting noisy.
I had the dealer change my diff fluid at about 7k just to get the manufacturing crud out, and plan to do it again at 50k. But if the dealer told me to do it, I'd be saying WTF...
UPDATE:
I had it changed again at 50k miles and sent a sample to Blackstone Labs. They said the fluid and the diff itself were in excellent condition, recommended going longer on the next cycle.
But perhaps my early change at 7k helped the situation.