We say that a signed graph is $k$-critical if it is not $k$-colorable but every one of its proper subgraphs is $k$-colorable. Using the definition of colorability due to Naserasr, Wang, and Zhu that extends the notion of circular colorability, we prove that every $3$-critical signed graph on $n$ vertices has at least $\frac{3n-1}{2}$ edges, and that this bound is asymptotically tight. It follows that every signed planar or projective-planar graph of girth at least $6$ is (circular) $3$-colorable, and for the projective-planar case, this girth condition is best possible. To prove our main result, we reformulate it in terms of the existence of a homomorphism to the signed graph $C_{3}^*$, which is the positive triangle augmented with a negative loop on each vertex.