Three-resonator wireless power transfer (WPT) systems have been proposed to improve the power transfer efficiency (PTE) and power delivered to the load (PDL) in recent years. However, analysis formulas of a three-resonator WPT system are complicated, and the parameters for clarifying the transfer characteristics of this system are difficult to extract. In this paper, concise formulas for analyzing PTE and PDL of the three-resonator system are derived by introducing three factors. Diagram discriminance based on the derived formulas is proposed to obtain the frequency splitting criterions of PTE and PDL in this system. Further, at the transfer distances, where the PTE and PDL are low at original frequency due to frequency splitting phenomenon, the two predetermined-goals of maximizing PTE and PDL are achieved by optimizing coupling strength between the three resonators. The third predetermined-goal of obtaining a constant amount of PDL transfer at maximum PTE is also implemented based on basic algorithms in numerical software. Finally, Simulation and measurement results verify the correctness of analyzing the transfer characteristics of three-resonator WPT system using the presented concise formulas and discriminance. Moreover, effectiveness of realizing the three predetermined-goals via the proposed optimization method is confirmed with experiments.