I have a 3.4 undergrad GPA also. The cut off is 3.0 to apply and they look at the applications holistically, not just GPA. My impression is that if you have experience in the field for which you are applying, show in your resume and personal statements that you deserve to be admitted, and show that you would add value to the class, your GPA is less important. They know that GPA does not always equal good practitioner. Don't get discouraged about that one aspect. Show them you deserve to be there.