To do your taxes for prior years, you will need the tax software for those years. TurboTax Online is only available for the current year, however, you can purchase the CD/Download versions for prior years here to prepare your returns for the past 3 years:
Prior year tax returns cannot be electronically filed, however once you have prepared your return using TurboTax, you can print out a copy to mail to the IRS.
More detailed information: https://ttlc.intuit.com/questions/1900990-how-do-i-file-a-prior-year-tax-return