Picroft hasn’t been actively maintained for years. The error you’re seeing while trying to launch the cli seems weird to me - that library shouldn’t have changed on you - but based on the title, I’m guessing you’re also having trouble connecting to MycroftAI’s backend services. Troubleshooting this would be a rabbit hole, and the rabbit’s not home.
OVOS (see FAQ) is now providing a Pi3-focused spiritual successor to Picroft. Right now, we’re just calling it OVOS-Raspbian or The Headless Version. That image will be the future for existing DIY Mycroft projects, as it should require the least redoing of your current setup.