Comparing Wii U and 3DS to Nintendo Switch is not completely fair, of course. The product is very different to both devices, there will have been a significant cross-over between the Wii U and 3DS audience, and 3DS' price point was (and is) significantly lower. In addition, Nintendo's investment in smartphone games may effectively replace its legacy handheld business over time.
Nevertheless, if Nintendo wants to have a bigger generation this time around, then it needs to beat 85 million. The 100 million Switch sales figure that Nintendo has casually suggested in its financial calls now look more like a genuine sales target. It's been a decent first year, but we are a long way away from reaching those figures.