Are my AP scores bad?

I have As in all my AP classes
Calculus AB - 4
Biology - 4
APUSH - 3

No, a 3 is passing and 4’s are good.

I know I passed all my scores. I’m just worried that universities will think my classes were easy since I got As in all my AP classes, but didn’t get a single 5.

Majority of universities do not consider AP scores in their admission decisions. What is more important is that you got A’s in these classes.

Depends on which schools you apply to. The most selective ones would not look on them as favorably as others. If you got As in them it should be fine otherwise.