readtemp can be used on any input on any part (except input 3 on 08M/14M parts)
So 3 DS18B20 sensors can be on 3 inputs.
readtemp command only supports one sensor per input, because it used the 1-wire 'SKIPROM' command. If you are familiar with the (complex) 1-wire protocol, and using the 28X1/40X1 (owout, owin commands), you can write your own communication routine using 'matchrom' command and the DS18B20 sensors ID number. This enables you to have more than one sensor on the same input, and address each one via its unique serial number. But it is complex to do - if you have 3 inputs spare that is much easier!
5.1.0 does support all the 40X / 40X1 parts. As explained on the 'modes' screen for the 40X1 just select the 28X1 compiler.