modrewrite and rewritecond

I'm trying to make friendly urls for my site but I'm having some issues. I looked at a bunch of tutorials for mod rewrite and .htaccess and I got far enough where it works but I'm having trouble getting rid of the old links.

The address is www.thesite.com/blog.php?id=34

I got the mod rewrite to display it as

www.thesite.com/blog34/PHP/TITLEOFBLOG.htm

Options +FollowSymLinks
RewriteEngine On
RewriteRule ^blog([0-9A-Za-z]+)/([0-9A-Za-z]+)/([0-9A-Za-z]+).htm$  blog.php?id=$1&category=$2&title=$3 [L]

Code (markup):

But I'm trying to eleminate duplicate content and get redirect the blog.php?id=34 to the new URL

Here is my code

RewriteCond %{QUERY_STRING} ^id=([0-9]+)
RewriteRule ^blog\.php /blog%1/%2/%3.htm? [R=301,L]

Code (markup):

So the %2 and %3 don't exist in the redirect so I'm getting
www.thesite.com/blog34//.htm

How can I redirect the old URLS with only the ID to the new ones that list the category and title?

Also, is it possible to just get rid of the ID number so I can have the same content display with just text?

THANKS!!!!!

EDIT:
When I type www.thesite.com/blog34/PHP/TITLEOFBLOG.htm I can get to the correct blog post BUT if I type www.thesite.com/blog34/anything that comes to mind/it doesn't matter what I type here.htm I still get the same blog, how do I stop that from happening so that the page is unique?