Yes, no matter how aid is ruled
Aid says that the targets'
current hit points increase by 5 for the duration.
As written, there is a continuous effect running on the target(s) which increases their hp by 5 above what they would be without the spell. In this question, it is assumed that all three targets of the spell have their hp at zero. If the aid spell was dispelled, their hp would still be at zero. Thus, you cannot be using the spell as written if you are in this situation. If you are using the spell as written, the hp of a target can never go below 5, because if their hp would otherwise be at 0 without the spell, the spell should be providing a continuous effect that raises their current hp for the duration. (This is in the same way that the continuous effect of gauntlets of ogre power keep your strength at 19 even as you are being temporarily drained of strength by a shadow)
A popular and accepted work-around to this problem posits that the continuous effect on current hp of the aid spell is not the increase of five for the duration, as written, but rather is a more complicated effect that increases the hp by 5 when it takes effect, does nothing for the bulk of the duration, and then at the very end of the duration actively reduces the hp by 5. If this is how aid works for the three targets at 0hp, then a second casting of aid would introduce a second and overlapping identical continuous effect. Because both effects are equally potent, the more recent one - the second casting - would be in effect while the first casting would be suppressed. In this case, as a 'start of duration' effect, all three targets would have their current hp increased by 5, in effect 'healing' them.
Another way to run the spell not as written acknowledges that you cannot sensibly have a continuous effect affecting current hp, because current hp is not a base value to which ongoing continuous affects are applied. In this case, the hp gain from aid is treated as a one-time instantaneous effect, such as in heroes' feast, rather than as a continuous effect. If this is how aid works for the three targets at 0hp, then a second casting of aid would introduce a second one-time increase, which would not involve the simultaneous effects rules, and all three targets would have their current hp increased by 5, in effect 'healing' them.
No matter how you run aid, this should work. If you run aid as written, you will not be in the situation of three targets at 0hp to begin with. If you run it as a continuous effect hp 'loan', the second casting will increase the target hp, as will a second casting run with the current hp increase as an instantaneous effect.