Apple has published couple of guidelines. With regards to 3D Touch, they seem to be taking hands-off approach on the discoverability because its usage patterns can be quite varied.
https://developer.apple.com/library/prerelease/ios/documentation/UserExperience/Conceptual/Adopting3DTouchOniPhone/
Indication of peek availability
With a light press, surrounding content blurs to tell the user a
preview of additional content—the peek—is available.
https://developer.apple.com/library/ios/documentation/UserExperience/Conceptual/MobileHIG/InteractivityInput.html
Interactive Elements Invite Touch
To signal interactivity, the built-in apps use a variety of cues,
including response to pressure, color, location, context, and
meaningful icons and labels. Users rarely need additional decorations
to show them that an onscreen element is interactive or to suggest
what it does.
On a device that supports 3D Touch, the background blur that users see
when they press on a Home screen icon signals that more functionality
is available