Control 5V from ESP8266 Wemos D1 mini
Voltage is only part of what a relay uses.  Check the current requirements for the relay coil/input as well.

For example the common result for "3V relay arduino" will produce results for relay MODULEs that contain something akin to a SRD-03VDC-SL-C relay (labeled on the relay itself).  Spec for the RELAY (separate search by relay part no) yields a data sheet that says the coil resistance is 25 ohms for a 3V and would use 120 mA at that voltage (25 Ohm * .120A = 3).  Note if the same coil were run on 5V it would draw 200 mA (25 Ohm * .200A = 5V).

120 mA is bloody high to be coming from a logic pin which is why the MODULE has more than just the relay.  What the MODULE likely contains is an additional gate device that takes less current that then supplies the relay (with 120mA) from another port.

You might also be looking at a solid state relay that uses less input current but generally has some slight leakage when "Off"