Yes, in America. We also frequently do our best, when having consensual sex, to minimize our odds of having kids. (I was unable to find rates of birth control use during rapes, unfortunately.) In the ancestral environment, this would probably not be a factor.

I'm pretty sure the 3% number comes mostly from women trying to get pregnant, and it's estimated that the per-act incidence of rape pregnancy would be about 8% instead of about 6% if none of the victims were using birth control.