This is quite an advanced one you are pointing out here. Firstly, the three expressions all mean criticism of somebody or what he/she has done. But when you learn Korean language you need to be conscious of social hierarchy based on age or position, such as your superior or president, because often the usage of certain words in Korean language is dependent on the person or people you are interacting with. In the light of it, the three expressions often tend to be used by someone senior or elder rather than someone junior or younger. Furthermore, the first expression, 책망하다 is more formal than 나무라다 or 꾸짖다. You can associate this with an elderly person reproaching a boy who has done something wrong. 나무라다 can be used in the same context, but with an added intention to rectify what is wrong. 꾸짖다 can also be used in a similar context, yet it gives an impression that the person who does it to someone else is quite angry. Hopefully this helps you a bit. :)

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