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LEAD: ''Of course, I'm happy to be back on earth again, to be among friends and comrades, to see all of you.'' - Col. Yuri V.

Col. [Yuri V. Romanenko], who spent almost 11 months in orbit, after he and two fellow astronauts returned from the Soviet space station Mir yesterday. At left, their spacecraft as it fell toward Soviet Kazakhstan. Page B7.

Vladimir Shatalov, director of cosmonaut training, added that the Soviet space program ''is not striving for records'' of space endurance but rather is accumulating experience which ''will be applied to Mars.'' ''The most difficult thing in a duration flight is to retrain a high level of ability to work efficiently and to distribute all your forces from the beginning till the end,'' he said. ''The crew had to take care not to lose the ability to work at some point in the middle of the flight.'' Morale Shaken by Departure ''Comrade [Aleksander Laveikin] left the station with hard feelings,'' Colonel [Yuri V. Romanenko] said in an expression of public independence unusual for the largely military-trained Soviet astronaut corps. ''It was kind of difficult for me, too. I had prepared for the flight with this one cosmonaut.

''I feel terrific,'' Colonel Romanenko told a Soviet television reporter minutes after he was hoisted from the space capsule. According to the broadcast, he recovered his earth legs quickly enough to change his clothes on the airplane on his way to the Baikonur space center, and to make his own way to a table for a meal of bread, cheese, pickles and tea. After emerging from the spacecraft, Colonel Romanenko said, ''Of course, I'm happy to be back on earth again, to be among friends and comrades, to see all of you.'' There were no signs of Colonel [Yuri V. Romanenko]'s fatigue in the television broadcast tonight. He told waiting reporters, ''Even after a duration flight, you want to go on and on,'' and he added that his companion, Mr. [Aleksandr P. Aleksandrov], who had earlier suffered bouts of space sickness, at the end had to be torn away from the scientific experiments with the admonition, ''Sasha, enough!''

[Yuri Romanenko], 43, and Alexander Laveikin blasted off Feb. 6, 1987, aboard the Soyuz TM-2 capsule, docking at the Mir station two days later. Mission control ordered Laveikin back to Earth after five months because of heart problems.

The nightly news program Vremya showed a beaming [Yuri Romanenko] and two fellow cosmonauts talking with space officials and Soviet reporters moments after they were pulled from the Soyuz TM-3 capsule that landed on the snowy steppes of Kazakhstan at 12:16 p.m. Moscow time (4:16 a.m. EST).

[Yuri Romanenko] and his first flight engineer, Alexander Laveikin, made a space walk of three hours and 40 minutes on April 11 to remove an obstruction that prevented linkage of the Mir space station and the Kvant Orbiting Laboratory. More than 1,000 experiments in astronomy, biology, medicine and other fields also were conducted on the orbiting complex while Romanenko was aboard, Tass said.

Soviet scientists are speaking more frequently about the possibility of a manned flight to Mars around the end of the century. Both U.S. and Soviet scientists say [Yuri Romanenko]'s adaptation to weightlessness will help determine the feasibility of such a flight, which they estimate will take three year round trip. 1) Reuter Photo-Yuri Romanenko talks to reporters yesterday after returning to Earth from a 326-day space flight. 2) AP Photo-The Men Who Came to Earth. Soviet cosmonauts [Alexander Alexandrov], left, Yuri Romanenko, center and [Anatoly Levchenko] smile after their return to Earth yesterday. Romanenko set a world endurance record by spending nearly 11 months in space (P 2 C H)

MOSCOW (AP-Reuter) - The Soviet Soyuz TM-3 space capsule landed today on a snow-covered steppe in Soviet Kazakhstan, ending a record 327-day mission aboard the space station Mir by cosmonaut Yuri Romanenko. \"It remains only to wish 'Okeany' (the new crew) a happy and successful voyage in space,\" Romanenko said, as he and his colleagues prepared to transfer from the space station to the capsule.

The fresh crew, which the Soviet Union says will spend a year in space, is the third to staff Mir on a long-term mission since the giant orbiting laboratory was launched in February 1986. The barrel- bodied spacecraft with its two winglike solar panels weighs about 20 tons and is nearly 65 feet long. With its six docking ports, Mir actually is a base module for assembling a multipurpose, permanently operating manned complex. Two ports are for docking ships, such as the Soyuz TM-4 that brought [Vladimir Titov] and [Musa Manarov], and for cargo ships. Four ports are reserved for automatic modules -- special research laboratories -- that can add on space for working and experimentation without cramping the living quarters.