3 years, or any fixed interval of time or miles really doesn't make sense. Where and how you ride are more important to the life of a fork than mileage anyway. One afternoon of hitting potholes or slamming into curbs could do more damage to the fork than 10K miles of smooth roads.
Suggest you follow the service instructions in the manual, pages 36 and 37. If you inspect the bike as Giant recommends, and stay alert for noises or any looseness, it should be OK to ride the fork and frame until "end of useful life". Note in the "warning" that Giant advises you the "lifetime" warranty isn't meant to imply that the bicycle will last forever. Like the other major brand warranties I've seen, the "lifetime" is only on defects: normal wear and tear (ie, wearout) is excluded.