3% absolutely does keep up with inflation[1][2] (whether it adequately compensates for increased experience as well is another matter).
The last 10 years US inflation was 3.2,2.9,3.8,-0.4 1.6,3.2,2.1,1.5,1.6,0.1 according to the world bank[2]. Giving the US an average inflation rate of just 1.96%.
[1]:http://www.usinflationcalculator.com/inflation/current-infla... [2]:http://data.worldbank.org/indicator/FP.CPI.TOTL.ZG (Have to search down the page for it)