Does the issue persist if you run docker with the host network (ie: --network host) ?
docker run -tid --network host --name aerospike -p 3000:3000 -p 3001:3001 -p 3002:3002 -p 3003:3003 aerospike/aerospike-server /usr/bin/asd --foreground
If above works, please also confirm connection by running the following:
docker exec -ti aerospike bash -c "asadm -e info"
docker exec -ti aerospike bash -c "asadm -e 'asinfo -v service'"
Also checkout this article on the error code -6 that you seem to be getting from the async mode. Try reducing the max async command.