Can anybody help me to build its query builder?

lets say, Book Model has Many-to-Many relationship with Tag model

Lets assume, there are 5 tags, of ID 1,2,3,4,5

Now I want to find the books, which is related to tag ID 3.

What currently I am doing:

$id = 3;
$related_books = [];

$all_books = Book::all();

foreach($all_books as $book) {
	if($book->tags->pluck('id')->contains($id))	{
		array_push($related_books, $book)
	}
}

But this is inefficient, to search in all books. I am confused how can I build a query builder for this issue, to find like Book::containsTag(3)->get(). So I am asking for your help guys.