<?php

$arr1=array(array("id" => 8, "name" => "test1"),  
            array("id" => 4, "name" => "test2"),  
            array("id" => 3, "name" => "test3")  
);

$arr2=array(array("id" => 3),
            array("id" => 4) 
);

$ids = array();
foreach($arr2 as $arr) {
    $ids[] = $arr['id'];
}

$arr3 = $arr4 = array();
foreach($arr1 as $arr) {
    if(in_array($arr['id'], $ids)) {
        $arr4[] = $arr;
    } else {
        $arr3[] = $arr;
    }
}

print_r($arr3);
print_r($arr4);

Array
(
    [0] => Array
        (
            [id] => 8
            [name] => test1
        )

)
Array
(
    [0] => Array
        (
            [id] => 4
            [name] => test2
        )

    [1] => Array
        (
            [id] => 3
            [name] => test3
        )

)