The CentOS 7 yum package for python34 does include the ensurepip module, but for some reason is missing the setuptools and pip files that should be a part of that module. To fix, download the latest wheels from PyPI into the module's _bundled directory (/lib64/python3.4/ensurepip/_bundled/):
The main python34u and python35u IUS packages include the pyvenv tool (/usr/bin/pyvenv-3.4 or /usr/bin/pyvenv-3.5) that includes bundled wheels of pip and setuptools for bootstrapping virtual environments.
global pip
The python34u-pip and python35u-pip IUS packages include /usr/bin/pip3.4 and /usr/bin/pip3.5 respectively. These work just fine to install packages to the system site-packages directory.
I tried easy_install at first but it doesn't install packages in a clean and intuitive way. Also when it comes time to remove packages it left a lot of artifacts that needed to be cleaned up.
Was the solution that worked for me, it installs "pip3" as pip on the system. It also uses standard rpm structure so it clean in its removal. I am not sure what process you would need to take if you want both python2 and python3 package manager on your system.