These expressions, in most cases, can be used interchangeably. However, to answer your question you would not say "I do not matter" when you mean to say "I do not care". "I do not matter" is like saying "No tengo valor" and "I do not care" is like saying "No me importa".
There are some subtleties between "I don't mind" and the other two (which have virtually the same meaning) but you will learn those nuances with practice. They are a bit difficult to explain. Sorry, but I hope I have helped a little.