Due to its super under-actuated property, the spatial-temporal cooperative guidance problem is well recognized as a huge challenge, especially in 3D space. This chapter aims to tackle this challenge without active speed control, which is commonly used in existing results but far from practical applications. First, on 2D plane, the optimal IACG law is augmented by a cooperative term to satisfy the spatial-temporal constraints. Then, the result is extended to 3D space based on the command-decoupled design strategy with coplanar cooperative guidance and planar pursuit guidance. Numerical simulations confirm the effectiveness of the presented results.