dot 4 has same principals and properties, pretty much, as dot 3. it is fully compatible with dot 3 but better because it has a higher boiling point so if you have to hit the brakes hard from say 100mph and come to a stop you will have less brake fade. im sure the autocross guys will chime in with more info for you too. im sure most of them are using dot 4.
Castrol used to have a DOT3/DOT4 brake fluid, but I can't find it anymore. I agree w/Mustangman in that the DOT4 isn't a problem. A while back I knew that DOT5 wasn't supposed to be mixed since it is/was synthetic, but the DOT3 I use (Prestone) is synthetic now too.