My cards associated with the bank account

1. My cards associated with this bank account include a debit card, a credit card, etc.
2. My cards which are associated with this bank account include a debit card, a credit card, etc.
3. My cards which are associated with this bank account include a debit card, a credit card, etc.

Can anybody tell me the difference between these sentences? Do we need a comma after ‘which’ in the second sentence. How do we know whether the inflected form of the verb ‘Be’, that is ‘are’, in the 2nd and 3rd questions is the main verb ‘Be’ or the auxiliary verb ‘Be’?