We present the results of clustering analyses of Lyman break galaxies (LBGs) at z ∼ 3, 4, and 5 using the final data release of the Canada-France-Hawaii Telescope Legacy Survey (CFHTLS). Deep-and wide-field images of the CFHTLS Deep Survey enable us to obtain sufficiently accurate two-point angular correlation functions to apply a halo occupation distribution analysis. The mean halo masses, calculated as M h = 10 11.7 − 10 12.8 h −1 M ⊙ , increase with stellar-mass limit of LBGs. The threshold halo mass to have a central galaxy, M min , follows the same increasing trend with the low-z results, whereas the threshold halo mass to have a satellite galaxy, M 1 , shows higher values at z = 3 − 5 than z = 0.5 − 1.5 over the entire stellar mass range. Satellite fractions of dropout galaxies, even at less massive haloes, are found to drop sharply from z = 2 down to less than 0.04 at z = 3 − 5. These results suggest that satellite galaxies form inefficiently within dark haloes at z = 3 − 5 even for less massive satellites with M ⋆ < 10 10 M ⊙ . We compute stellar-to-halo mass ratios (SHMRs) assuming a main sequence of galaxies, which is found to provide consistent SHMRs with those derived from a spectral energy distribution fitting method. The observed SHMRs are in good agreement with the model predictions based on the abundance-matching method within 1σ confidence intervals. We derive observationally, for the first time, M pivot h , which is the halo mass at a peak in the star-formation efficiency, at 3 < z < 5, and it shows a little increasing trend with cosmic time at z > 3. In addition, M pivot h and its normalization are found to be almost unchanged during 0 < z < 5. Our study shows an observational evidence that galaxy formation is ubiquitously most efficient near a halo mass of M h ∼ 10 12 M ⊙ over cosmic time.