Like this:
import matplotlib.pyplot as plt
# Reference or starting point to create vectors
start = [0, 0, 0]
# Ending points of vectors
u = [7, 3, 1]
v = [1, 5, 4]
q = [3, -8, 4]
fig = plt.figure()
ax = plt.axes(projection = '3d')
# Define axis limits
ax.set_xlim([-1, 10])
ax.set_ylim([-10, 10])
ax.set_zlim([0, 10])
# Create vectors to plot
ax.quiver(start[0], start[1], start[2], u[0], u[1], u[2], color = 'g')
ax.quiver(start[0], start[1], start[2], v[0], v[1], v[2])
ax.quiver(start[0], start[1], start[2], q[0], q[1], q[2], color = 'r')
ax.view_init(10, 10)
plt.show()
