I’m not near a computer but I was persuaded I have used youtube-dl -f mp3 https://... before.
OTOH, if you specify a format directly without -x, it may not extract the audio alone. For example if you wanted M4A, you'd specify -x on top of specifying the format explicitly.
edit: as krick points out though, it doesn’t seem videos generally have an mp3 format, at least on YouTube.