You can do that in one query:
[code:1]INSERT IGNORE INTO `#__acymailing_listsub` ( `listid`, `subid`, `subdate`, `status` )
VALUES ( <listid1>, ( SELECT `subid` FROM `#__acymailing_subscriber` WHERE `userid` = [user_id] ), UNIX_TIMESTAMP( NOW() ), 1 ),
( <listid2>, ( SELECT `subid` FROM `#__acymailing_subscriber` WHERE `userid` = [user_id] ), UNIX_TIMESTAMP( NOW() ), 1 ),
( <listid3>, ( SELECT `subid` FROM `#__acymailing_subscriber` WHERE `userid` = [user_id] ), UNIX_TIMESTAMP( NOW() ), 1 )
[/code:1]