The actual available usable space for a non-RAID formatted HDD is an artifact of how the HDD industry defines what a TB really is. It's all about the math. From a computer science perspective (and in engineering terms), 1 TB = 1024 GB, 1 GB = 1024 MB, and 1 MB = 1024 KB. It's industry standard practice to round down and call 1 TB = 1000 GB, 1 GB = 1000 MB, etc. This simplified math results in a compounded storage loss of roughly 2.3% for each level of conversion as you scale up from the KB to TB range. Due to this differential, the net result for a 3TB HDD is total loss roughly around what you're seeing as your available storage space. After you factor in the overhead for indexing/addressing and reserved memory to compensate for bad blocks, your available storage space is dead-on.
The difference between advertised and usable storage was a sticking point around 20 years ago when storage was very expensive and consumers felt cheated by (as cable2 pointed out), creative marketing.