Adios Gringo, following your help, I managed to put it like this:
    ax.text(xs[i * nr_status] + 100, ys[i * nr_status] - 50, z=35, zdir=(0, 1, 1), ha='right', va='top', s=f"{dp}", color=xy_ticklabel_color, weight="bold", fontsize=7)

screenshot of a 3d bar chart showing text and bars