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NOTE: ANSWER IS WORK IN PROGRESS

"The three worlds" means basically "the three types of physical realms" in this context. The three types of physical realms are the Heavens, Earth, and the Hells. We go to temporary heavens and hells as a reward or punishment for our karmas from our life on Earth. From here, we transmigrate into some of the 8,400,000 life forms again.

But as Bhagat Kabir Ji says, we must not worry about wanting to go to Heaven or dreading Hell. We must remain in God's love wherever he puts us by his will.

What is hell, and what is heaven? The Saints reject them both - Bhagat Kabir, Sri Adi Guru Granth Sahib Ji, Ang. 969

Don't wish for a home in heaven, and don't be afraid to live in hell - Bhagat Kabir Ji, Sri Adi Guru Granth Sahib Ji, Ang. 337

Guru Arjan Dev Ji Shaheed answers your question to perfection by speaking of the three worlds and various galaxies:

In the heavenly paradise, in the nether regions of the underworld, on the planet earth and throughout the galaxies, the One Lord is pervading everywhere - Guru Arjan Dev Ji Shaheed, Sri Adi Guru Granth Sahib Ji, Ang. 207

But "heaven" and "hell" do not always mean a physical place, but as a state of mind, as in:

That Thou art the Destroyer of hell. That Thou art the dweller in heaven - Guru Gobind Singh Ji, Sri Dasam Guru Granth Sahib Ji, Ang. 25

and

They wander endlessly in heaven and hell, until death annihilates them - Guru Arjan Dev Ji Shaheed, Sri Adi Guru Granth Sahib Ji, Ang. 297

This shows "heaven" and "hell" can also represent the duality of the word running in all the directions at once, getting nowhere. They take one step towards god, and ten back all in Maya.