Higher homotopy groups of irreducible 3-manifolds

An irreducible 3-manifold $M$ is aspherical if and only if it's not a finite quotient of $S^3$, which in turn is equivalent to having infinite fundamental group. Essentially you've already outlined the proof: the universal cover $\tilde M$ is a simply-connected 3-manifold with trivial $\pi_2$, and so also $H_2(\tilde M) = 0$; if $\tilde M$ is not compact, then $H_3(\tilde M) = 0$ (because of non-compactness) and $H_k(\tilde M) = 0$ for higher $k$ (because it's a 3-manifold), so by the Hurewicz theorem $\tilde M$ is aspherical.

On the other hand, $\tilde M$ is compact if and only if $\pi_1(M)$ is finite. In this case, Perelman proved that $\tilde M$ is $S^3$. 3-manifolds covered by $S^3$ are classified, and they correspond to finite subgroups of $SO(4)$. I think that Scott's The geometries of 3-manifolds has a precise statement.

It's wrong for finite fundamental group, as then the universal cover is closed and has nonvanishing $\pi_3$ by Hurewicz. It's true for infinite fundamental group, again by Hurewicz applied to the universal cover.