Should I pursue my PhD dream based on my Undergrad experiences?
A 3.5+ is generally preferred but a 3.0 and some solid test scores (GMAT/GRE) can really bump you up in the admissions line.  Keep working on your publications and when it comes time to write your personal essay talk about how you have published already but really want to develop those skills so you can be a prolific researcher.

If you love research, and the creation of knowledge, then go for the PhD it will give you the best training and opportunity to advance your research.