If you are trying to sign into iCloud with an Apple ID for the first time, and you are getting that message, it means that the iOS device you are trying to sign into has had 3 new iCloud accounts signed into it already. You need to sign your ID into iCloud on another iOS device or at iCloud.com. Once you have done that, you will be able to sign it out, and then sign it into the iOS device you wish to use.
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GB