When you shift to third from 2nd, don't use your thumb at all. Don't grab the knob.
Just use the palm of your hand with the fingers up. Push the shifter toward the radio.
The strong centering spring in the shifter will put it in line with 3rd, you don't have to.
Your shifter is self centering for 3rd and 4th gear. Try this and you will NEVER miss a shift. Also when you pull the shifter from 1st to 2nd, and from 3rd to 4th just cup your
fingers over the shifter knob. Get in the habit of never using your thumb on the knob and you will notice you will shift smoother and faster.
You might find the following link to be very helpful.
http://rangeracceleration.com/Improved_Shifting.html