Where fitness is the capacity to make as many of copies of oneself as possible.
Fitness is a measure of your ability to reproduce copmared to others in the same population. It is the comparison that is important.
The cat's question is: does that mean that the three-headed monster critters are just lacking a proper environment to adapt to and to be fit in?
Yes, that is about it. Also, you might be interested in the hydra:
You also need to factor in the history of life. Basic body plans evolved very early on in life, and further adaptations have been built on top of these early adaptations. This makes it difficult to evolve a new basic body plan since so many other adaptations now depend on what evolved before it. You can use buildings as an example. It is relatively easy to put a new doorknob on the front door, but it is much more difficult to change out the foundation.