I don't think you will find a faster solution than the 3 sums proposed in the question. The advantages of numpy are visible with larger vectors, and also if you need other operators. numpy is specially useful with matrixes, witch are trick to do with python lists.
Still, yet another way to do it :D
In [1]: a = [1,2,3]
In [2]: b = [2,3,4]
In [3]: map(sum, zip(a,b))
Out[3]: [3, 5, 7]
Edit: you can also use the izip from itertools, a generator version of zip
In [5]: from itertools import izip
In [6]: map(sum, izip(a,b))
Out[6]: [3, 5, 7]