Bump zend-servicemanager to ^3.4

[weierophinney]

zend-servicemanager 3.4.0 enabled plugin managers to accept psr containers not implementing interop interface as a creation context.

This PR bumps used version to ^3.4 to ensure zend-view works with different containers.

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Originally posted by @Xerkus at zendframework/zend-expressive-skeleton#273