DOT 3 will be just fine. Don't get it on the paint!!
I would: suck out the MC and re-fill with new fluid and call it good. If it's really dark, suck out the MC, fill it, and go around the car and open the bleeders, one at a time until clear fluid runs out. Keep your eye on the MC level....you do NOT want to run it dry. You can wash the brake fluid off the backing plates, etc. with plain water. Or connect a small tube to the nipple to direct fluid into a can or cup. Wash it off right after you are done with that particular wheel before moving on to the next.
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