With the advancement of 5G mobile telecommunication, various IoT (Internet of Things) devices communicate massive amounts of data by being connected to wireless networks. Since this wireless communication is vulnerable to hackers via data leakage during communication, the transmitted data should be encrypted through block ciphers to protect the data during communication. In addition, in order to encrypt the massive amounts of data securely, it is essential to apply one of secure mode of operation. Among them, CTR (CounTeR) mode is the most widely used in industrial applications. However, these IoT devices have limited resources of computing and memory compared to typical computers, so that it is challenging to process cryptographic algorithms that have computation-intensive tasks in IoT devices at high speed. Thus, it is required that cryptographic algorithms are optimized in IoT devices. In other words, optimizing cryptographic operations on these IoT devices is not only basic but also an essential effort in order to build secure IoT-based service systems. For efficient encryption on IoT devices, even though several ARX (Add-Rotate-XOR)-based ciphers have been proposed, it still necessary to improve the performance of encryption for smooth and secure IoT services. In this article, we propose the first parallel implementations of CTR mode of ARX-based ciphers: LEA (Lightweight Encryption Algorithm), HIGHT (high security and light weight), and revised CHAM on the ARMv8 platform, a popular microcontroller in various IoT applications. For the parallel implementation, we propose an efficient data parallelism technique and register scheduling, which maximizes the usage of vector registers. Through proposed techniques, we process the maximum amount of encryption simultaneously by utilizing all vector registers. Namely, in the case of HIGHT and revised CHAM-64/128 (resp. LEA, revised CHAM-128/128, and CHAM-128/256), we can execute 48 (resp. 24) encryptions simultaneously. In addition, we optimize the process of CTR mode by pre-computing and using the intermediate value of some initial rounds by utilizing the property that the nonce part of CTR mode input is fixed during encryptions. Through the pre-computation table, CTR mode is optimized up until round 4 in LEA, round 5 in HIGHT, and round 7 in revised CHAM. With the proposed parallel processing technique, our software provides 3.09%, 5.26%, and 9.52% of improved performance in LEA, HIGHT, and revised CHAM-64/128, respectively, compared to the existing parallel works in ARM-based MCU. Furthermore, with the proposed CTR mode optimization technique, our software provides the most improved performance with 8.76%, 8.62%, and 15.87% in LEA-CTR, HIGHT-CTR, and revised CHAM-CTR, respectively. This work is the fastest implementation of CTR mode on ARMv8 architecture to the best of our knowledge.