Right after installing k3s you are going to need to use sudo to use any kubectl command. The reason for this is that the default config is owned by root. To get around this you will need to make your own config and set the KUBECONFIG environment variable
To do this I used sudo one last time to copy the k3s.yaml file into my own directory and take ownership of it.
sudo cp /etc/rancher/k3s/k3s.yaml /home/waylon/.config/kube
sudo chown -R waylon:waylon ~/.config/kube
export KUBECONFIG=~/.config/kube/k3s.yaml