As you correctly stated, the past perfect tense is used in a sentence that describes two past events that happened at different times, as in the following:
“The special car sale happened last week just when I had already bought my sedan.”
Note that in such sentences, the event that happened earlier—the one that doesn’t have a specified time of occurrence—takes the past perfect, while the later event—the one that does have a specified time of occurrence—takes the past tense.
But yes, the past perfect tense can also be used to describe a single past event. This is when the time of occurrence of that particular event in the past is not specified or is unknown, as in the following sentence:
“The evidence had disappeared.”
Normally, such sentences in the past perfect follow another sentence in the simple past tense, as in the following example:
“Two weeks ago, the investigators looked for proof of the presence of the suspects at the scene of the crime. By then, the evidence had disappeared.”
Now, is the use of the simple past tense in the following sentence of yours correct?
“I lived in the US for three years.”
Of course, but only if you no longer live in the United States at the time of speaking. If you still do, however, the present perfect progressive would need to be used in that sentence, as follows:
“I have been living in the US for three years now.”
If you have lived in the US for three years until shortly before the time of speaking, by which time you have moved to another country, the present perfect can be used:
“I have lived in the US for three years. Now I’m a Manila resident.”
These are just some of the shades of difference between the perfect tenses.