The JVM and the underlying OS have considerable freedom when scheduling things. The fact that you get all the way to "Waiting for threads to finish" before you see the output from individual threads may simply mean that thread start-up takes a bit longer (i.e. it takes some time between the moment when a thread becomes "alive" and when the run() method actually starts executing). You could conceivably see thread output sooner but it's not guaranteed either way.
As for join(), it only guarantees that whatever is after it will only happen once the thread you are joining is done. So when you have three join() calls in a row it doesn't mean the threads should end in a particular order. It simply means that you will wait for ob1 first. Once ob1 finishes, ob2 and ob3 may be still running or they may already be finished. If they are finished, your other join() calls will return immediately.
synchronized is used specifically when multiple threads access the same object and make changes to it. A synchronized block is guaranteed never to be executed by two threads simultaneously - i.e. the thread that executes it has the synchronized object all to itself.