You mentioned the possibility of finding a recurrence; that can be done. Call a bit string that has at least one string of $3$ or more consecutive $1$s a good string; a string that isn’t good is bad.
Consider a good bit string $\sigma$ of length $n$, where $n\ge 3$. If the substring consisting of the first $n-1$ bits of $\sigma$ is good, the $n$-th bit can be either $0$ or $1$, so there are $2a_{n-1}$ good bit strings of length $n$ of this type. If the substring consisting of the first $n-1$ bits is bad, the last $4$ bits of $\sigma$ must be $1110$, and the substring consisting of the first $n-4$ bits of $\sigma$ can be any bad string of length $n-4$. There are $2^{n-4}$ bit strings of length $n-4$, $a_{n-4}$ of which are good, so there are $2^{n-4}-a_{n-4}$ bad strings of length $n-4$. Appending $1110$ to each of them produces the $2^{n-4}-a_{n-4}$ good strings of length $n$ whose first $n-1$ bits are a bad string. Altogether, then, $$a_n=2a_{n-1}+2^{n-4}-a_{n-4}\;.\tag{1}$$
Clearly $a_0=a_1=a_2=0$ and $a_3=1$. Applying $(1)$ three times, we find that
$$\begin{align*}
a_4&=2\cdot1+2^0-0=3\;,\\
a_5&=2\cdot3+2^1-0=8\,\text{ and}\\
a_6&=2\cdot8+2^2-0=20\;.
\end{align*}$$
It’s easier to find $a_6$ directly, as André Nicolas did in his answer, but if you wanted many more terms of the sequence, the recurrence would be the way to go.