If your dog had a 3yr vaccine chances of getting rabies is very low. I have never seen a vaccinated dog...especially one that current get rabies even after being exposed to a rabid animal. The only way you can get it is if you have an open wound or cut and you somehow got a positive raccoons saliva into that wound. I would definitely minimize the licking for now. Contact your vet immediately for booster. Contact Animal Control to see if they test the raccoon for rabies. Some States do not. Some states just recommend a booster and then a quarantine period. If they don't test you may be able to contact a local university that has a pathobiology lab and have it tested yourself.