(3) is the most explicitly recent. (2) can be used about any "reasonably recent" event, provided that the cleaning of the floor is still relevant to the present situation (often because the floor is still clean). (2) could also be used in an "experiential" sense, meaning that you have done this at least once in the past, ever.
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Zoltán Király1. I cleaned the floor.1. I cleaned the floor (yesterday, this morning, last week..) one specific incident in the past.