First I'd recommend 4 heroes of Light, a Final Fantasy spin-off game from a couple years ago on the DS when they basically made another game in the FFI-III style of job system and world set-up. If you like those kinds of games (and have probably played the main Final Fantasy games) then I highly recommend it as the first game that I liked the use of the job system. That said, going by reviews etc..., Bravely Default seems to be another reboot/spin-off of that style on the 3DS so you might want to play that for the better use of the 3DS's power.
It's at this point, that I would like to mention a Kingdom Hearts game as I think they make good handheld JRPG's: but, I can't seriously recommend any of the DS handheld ones when compared to the PSP's Birth By Sleep. 358/2 Days is kind of boring (I honestly think it was held back too much on the DS). Re:Coded just isn't very good, being very obvious how it was a pre-smart phone game. And 3D/Dream Drop Distance relies too much on setting up for the future of the series - it isn't paced very well and feels like half a game. Birth By Sleep is comparatively elegant, being my favourite handheld game of all time. It has a self-contained story (which, in the grand schemes of the series is fucking crazy - but within itself, is just another JRPG narrative). The three playable characters feel meaningfully different. And the battle system is divine: from normal attacks/dodging/etc..., to command moves and magic, to "shotlock" abilities, to special finishing moves, and command styles. It's actually crazy to me how many different ways of fighting there are and all of them are useful. The best thing about it though, is that the game is actually challenging at points - it even allows a player with good enough control of all of these mechanics the ability to defeat enemies that completely out-level them. It's a fantastic game, so if you have access to a PSP then I highly recommend you play it. But if you are limited to 3DS/DS games, I don't recommend those games at all (I still enjoyed playing them, I just can't recommend them).
Since you liked Zelda, I'd also recommend Okamiden. I think it is a truly fantastic game (I put it as number 6 on my 2011 GOTY top 10 list). My main problem with the game stems from how it was clearly aiming to be like Okami but was stuck with the power of the DS and so has very tiny zones to be in (meaning lots of very tiny loads) - that was the same problem Ryan had when he Quick Looked it; along with it having a fairly slow start. But since you also like proper JRPG's, I think you wouldn't find those to be that annoying.
...Wow, sorry for the long post: I just wanted to explain my 3 picks and may have gone overboard.
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