urllib3 is a different library from urllib and urllib2. It has lots of additional features to the urllibs in the standard library, if you need them, things like re-using connections. The documentation is here: https://urllib3.readthedocs.org/
If you'd like to use urllib3, you'll need to pip install urllib3. A basic example looks like this:
from bs4 import BeautifulSoup
import urllib3
http = urllib3.PoolManager()
url = 'http://www.thefamouspeople.com/singers.php'
response = http.request('GET', url)
soup = BeautifulSoup(response.data)