You wrote,
I want to add a counter to the subsubsection [headers]
Just insert the instruction
\setcounter{secnumdepth}{3}
in the preamble. The default value of this counter for the book class is 2, meaning that only subsection headers (and thus also section and chapter and part headers) get numbered.
If you want subsubsection-level headers to show up in the Table of Contents as well, you will also need to specify
\setcounter{tocdepth}{3}
in the preamble. (You can probably guess that the default value of this counter is 2.)
You also wrote,
[I want to] remove the final dot from the section counter, subsection and subsubsection
The format without a final dot is actually the default in the book document class. In a comment, you've indicated that you employ the babel package with the language option spanish. Indeed, this setting overrides the book default, i.e., it affixes dots to section, subsection, and subsubsection numbers. To override this language-specific setting, one needs to load the babel package with the additional option es-nosectiondot:
\usepackage[spanish,es-nosectiondot]{babel}
or, equivalently, write
\usepackage[spanish.nosectiondot]{babel}
For more information on this subject, see the posting How to remove dot after section number in ToC with babel's spanish? For more information on what the spanish language option of the babel package does and how the resulting, language-specific settings can be modified, type
texdoc babel-spanish
at a command prompt. The user guide document that will open up is written in Spanish -- no problem for you, right? :-)
An MWE (minimum working example):

\documentclass{book}
\setcounter{secnumdepth}{3} % default for book class: 2
\usepackage[spanish,es-nosectiondot]{babel} % suppress affixed dots
\begin{document}
\chapter{One}
\section{One.One}
\subsection{One.One.One}
\subsubsection{One.One.One.One}
\end{document}
geometry,amsmathandamssymb,caption,siunitx,natbib,hyperref, orcleveref, to name but a few. – Mico Feb 17 '19 at 19:13