I had this issue and I fixed it using the following steps You need to completely uninstall python3-p using:
sudo apt-get --purge autoremove python3-pip
Then resintall the package with:
sudo apt install python3-pip
To confirm that everything works, run:
pip3 -V
After this you can now use pip3 to manage any python package of your interest. Eg
pip3 install NumPy