If you want to repeat the whole entry and averaging process, you can wrap a loop around the code:
#include <stdio.h>
int main(void)
{
    float f1,f2,f3;
    while (1)
    {
        printf("Please enter three numbers.\n");
        printf("\tFirst number please.\n");
        if (scanf("%f", &f1) != 1)
            break;
        printf("\tSecond number please.\n");
        if (scanf("%f", &f2) != 1)
            break;
        printf("\tThird number please.\n");
        if (scanf("%f", &f3) != 1)
            break;
        printf("Your sum     is %f\n", f1+f2+f3);
        printf("Your average is %f\n", (f1+f2+f3)/3);
    }
    return 0;
}
Note that this code checks the return value from scanf() each time it is used, breaking the loop if there's a problem.  There's no need for string concatenation, and a single printf() can certainly print a string and a value.
That's a simple first stage; there are more elaborate techniques that could be used.  For example, you could create a function to prompt for and read the number:
#include <stdio.h>
static int prompt_and_read(const char *prompt, float *value)
{
    printf("%s", prompt);
    if (scanf("%f", value) != 1)
        return -1;
    return 0;
}
int main(void)
{
    float f1,f2,f3;
    while (printf("Please enter three numbers.\n") > 0 &&
           prompt_and_read("\tFirst number please.\n", &f1) == 0 &&
           prompt_and_read("\tSecond number please.\n", &f2) == 0 &&
           prompt_and_read("\tThird number please.\n", &f3) == 0)
    {
        printf("Your sum     is %f\n", f1+f2+f3);
        printf("Your average is %f\n", (f1+f2+f3)/3);
    }
    return 0;
}
If you want to get away from a fixed set of three values, then you can iterate until you encounter EOF or an error:
#include <stdio.h>
static int prompt_and_read(const char *prompt, float *value)
{
    printf("%s", prompt);
    if (scanf("%f", value) != 1)
        return -1;
    return 0;
}
int main(void)
{
    float value;
    float sum = 0.0;
    int   num = 0;
    printf("Please enter numbers.\n");
    while (prompt_and_read("\tNext number please.\n", &value) == 0)
    {
        sum += value;
        num++;
    }
    if (num > 0)
    {
        printf("You entered %d numbers\n", num);
        printf("Your sum     is %f\n", sum);
        printf("Your average is %f\n", sum / num);
    }
    return 0;
}
You might also decide to replace the newline at the ends of the prompt strings with a space so that the value is typed on the same line as the prompt.
If you want to check whether to repeat the calculation, you can use a minor variant on the first or second versions of the code:
#include <stdio.h>
static int prompt_and_read(const char *prompt, float *value)
{
    printf("%s", prompt);
    if (scanf("%f", value) != 1)
        return -1;
    return 0;
}
static int prompt_continue(const char *prompt)
{
    printf("%s", prompt);
    char answer[2];
    if (scanf("%1s", answer) != 1)
        return 0;
    if (answer[0] == 'y' || answer[0] == 'Y')
    {
        int c;
        while ((c = getchar()) != EOF && c != '\n')      // Gobble to newline
            ;
        return 1;
    }
    return 0;
}
int main(void)
{
    float f1,f2,f3;
    while (printf("Please enter three numbers.\n") > 0 &&
           prompt_and_read("\tFirst number please.\n", &f1) == 0 &&
           prompt_and_read("\tSecond number please.\n", &f2) == 0 &&
           prompt_and_read("\tThird number please.\n", &f3) == 0)
    {
        printf("Your sum     is %f\n", f1+f2+f3);
        printf("Your average is %f\n", (f1+f2+f3)/3);
        if (prompt_continue("Do you want to try again?") == 0)
            break;
    }
    return 0;
}