If you want to play the sound infinitely use the attribute loop
in the tag audio :
<audio id="beep" loop>
<source src="assets/sound/beep.wav" type="audio/wav" />
</audio>
Edit
If you want to stop the loop after 3 times, add an event listener :
HTML:
<audio id="beep">
<source src="assets/sound/beep.wav" type="audio/wav" />
</audio>
JS:
var count = 1
document.getElementById('beep').addEventListener('ended', function(){
this.currentTime = 0;
if(count <= 3){
this.play();
}
count++;
}, false);