Welcome to the site. Look for rust IN the frame, too, and look under the plastic rock guards on the rear fender. If it's got rust anywhere, it'll be in one of those two spots.
That one you posted looks nice and clean. A little high for around here, but I understand California prices are a little higher. I wouldn't pass just because it's got the 3.0 - if he's got good maintenance records, $3800 or $4000 might be a reasonable offer.
As an aside, the V6 makes more power and gets worse mileage than the 4cyl, what a surprise, huh? What gives it such a bad rep is it's tendency to blow head gaskets, and this comes from two places in my understanding. The head bolt torque settings from the factory were wrong on a lot of trucks, and there was a recall to correct that. If your truck has ever had the gaskets replaced, and it almost surely has, the torque settings are probably correct now. The other cause of gasket failure on these trucks is the poorly designed crossover exhaust pipe that comes too close to the block and cooks the head gasket. A set of aftermarket headers will fix that and give you a little more oomph besides. In my opinion, the 3 liter motor only looks bad/unreliable because it's so commonly compared to the 4 cylinder, and the 20r/22r series of motors have proven to be some of the most reliable powerplants ever built. It's kinda like saying that Hercules is a wimp because he's standing next to Zeus. The 3.0 will probably serve you fine, and if it DOES blow up in your face, hey, 3.4 swap!
So I don't think you can go horribly wrong with either motor, each has its plusses and minuses - one is bulletproof with better mileage and easier to work on, the other is nearly bulletproof with 50% more power. Unless you have to have one, pass on the automatic transmissions though. The slushboxes behind both motors suck rancid yak dong, they're horrible. Stick shift is the way to go with these trucks.