If you want to keep your flat chaining syntax instead of nesting, you can use an object from the parent scope to share:
var shared = {};
var promise = firstQuery.get(objectId).then(function(result1){
// save results to shared object
shared.result1 = result1;
return secondQuery.find();
}).then(function(result2){
shared.result2 = result2;
return thirdQuery.find();
}).then(function(result3) {
// here I want to use "result1", "result2" and "result3"
// just use shared.result1, shared.result2
});