It is not about the voltage rating, but how fast the lamps heat up
The 3.5V lamps you used have lower thermal mass (possibly due to thinner filament), so they heat faster than the other lamps in the string
As the lamps heat up their resistance rises, and so does the share of the voltage they take from the series circuit. They heat up more, the resistance rises more, and so on. Suddenly they get a voltage which is not 3.5V but several times higher, before the other lamps warmed up at all
It will likely be ok if you use identical new lamps for all of the lamps in the string at once, as long as there is no variation between the individual lamps that will cause the same effect or non-uniform filament inside the lamps themselves