It is not mandatory. however under section 44AB if the turnover of a company exceeds rupees 1 crore in the preceding year, then the company should get its books of accounts audited.
If you are liable to get your accounts audited under other act then you have to file 3A 3D other wise 3B-3D Like in case of companies, audit under companies act is required so in case of companies form 3A-3D need to be filed