Have worked for three years - experience?

I have worked in the company for three years.

Can this mean three years’ job experience in a company where I don’t work now?

I think this means I started to work in the company three years ago and still work there.

A friend of mine said "I have worked in the company for three years", then I asked, "Are you still working there?"

He answered,

No, as I said before, I changed my job., It (I have worked in the company for three years) is a result in past that is actual in present during our conversation, one of the rules for using present perfect tense.

Another friend said,

If you want to talk about your experiences you must always use present perfect.

I am confused…