This is not super-straightforward to do in Ae, because you can’t just “draw” each circle — you actually need to have a layer (or a set of many shape objects within a layer) already set to respond to the data.
The way I would probably approach this is to reformat the data so it better matches Ae’s model. Consider each row in the spreadsheet to be a single dot, each column to be a single frame (so column A is frame 0, column B is frame 1, etc.), then store the position [x,y,z] in each cell.
Once you’ve done that, you can import the CSV into Ae, build out layers for the maximum number of dots you’ll have on-screen, and use expressions to get the position for each dot from its corresponding record.