Select the 3D Layer switch for the layer in the Timeline panel, or select the layer and choose Layer > 3D Layer.
More 3d layer info available here.
If you want the layer to have depth you there are several plugins you can use. One of my favs is Zaxwerks 3d Invigorator.
Or, if you don't want plugins, you could duplicate your 3d layer a ton of times and offset each copy a pixel back or forward in z space in AE.
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You can get 3-D logos from AE's shatter but it won't be as customizable as true 3-D in Maya. Nevertheless, it is possible to have extrusions if you tweak it.
You can extrude a logo into a box that wraps around itself, or turn sections of it into illustrator strokes, auto masks, or custom shapes for separate moving 3-d parts. Shatter can map these and accept custom layers. Here's an example project for AE cs3. replace custom shatter picture for blue solid shape layer1, or "picture company" text layer and see how it works.