To install bluepy on Raspberry Pi for Python3, enter the command:
$ sudo apt-get install python3-pip libglib2.0-dev
$ sudo pip3 install bluepy
There are two examples in bluepy, scanner and notification. Here how I modify it for Python3 working on Raspberry Pi, work with ESP32 BLE_uart example; step-by-step.
code available: https://helloraspberrypi.blogspot.com/2021/07/install-bluepy-on-raspberry-pi-for.html