The possibility of Bose-Einstein condensation of excitations has been discussed for a long time. The phenomenon of the phase-coherent precession of magnetization in superfluid 3He and the related effects of spin superfluidity are based on the true Bose-Einstein condensation of magnons. Several different states of coherent precession has been observed in 3He-B: homogeneously precessing domain (HPD); persistent signal formed by Q-balls at very low temperatures; coherent precession with fractional magnetization; and a mode of the coherent precession in compressed aerogel. The coherent precession has been also found in 3He-A in compressed aerogel. Here we demonstrate that all these cases are examples of a Bose-Einstein condensation of magnons, with the magnon interaction term in the Gross-Pitaevskii equation being provided by different types of spin-orbit coupling in the background of the coherent precession.