The R Datasets package provides US population data for every 10 years from 1790 until 1970.
((endPop - startPop) ^ (1/numYears)) - 1
((203.20 - 3.93) ^ (1/(1970-1790))) - 1
[1] 0.02985167
Selecting different date ranges, the growth rate is smaller for the later years than the earlier years.
Conclusion: while the population trend is upward, the rate of growth has diminished from around 3% per year before 1850 to under 2% per year after 1850.