Yes, the 3067 has been replaced by the 3010.
According to Yamaha's website,
AVENTAGE is a dramatic, inspired leap forward in audio/video component design. AVENTAGE brings studio grade sound and sophisticated video enhancements to your home with unparalleled attention to detail in design, engineering, and fabrication. We rethought every electrical path, every part, every piece, and every material to maximize performance. Details that at first glance would not seem to affect the quality of sight, sound, and control, when brought together in an AVENTAGE component, produce a work of visual and acoustic art.
Yamaha claims newer components employed bring performance enhancements. You will need to audition both to see what you prefer. If you're not bothered about the extra features of the 2010, the 3067 may represent incredible value.