We study high-field phase diagram and low-energy excitations of three-dimensional quantum helimagnets. Slightly below the saturation field, the emergence of magnetic order may be mathematically viewed as Bose-Einstein condensation (BEC) of magnons. The method of dilute Bose gas enables an unbiased quantitative analysis of quantum effects in three-dimensional helimagnets and thereby three phases are found: cone, coplanar fan and an attraction-dominant one. To investigate the last phase, we extend the usual BEC approach so that we can handle 2-magnon bound states. In the case of 2-magnon BEC, the transverse magnetization vanishes and long-range order occurs in the quadrupolar channel (spin-nematic phase). As an application, we map out the phase diagram of a 3D helimagnet which consists of frustrated J1-J2 chains coupled by an interchain interaction J3.