We generalize $1+1$-dimensional formalism derived by Ahmadi et. al. [Phys. Rev. D \textbf{93}, 124031] to investigate an effect of relativistic acceleration on localized two-mode Gaussian quantum states in $3+1$-dimensional spacetime. The following framework is then used to analyze entanglement of the Minkowski vacuum as witnessed by two accelerating observers that move either collinearly or noncollinearly.