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I was able to reproduce this on my system. The exception is occurring (for me at least) because the server closed the connection. I see the following message in my server logs:
2016-12-05T10:09:44.369-0500 I - [conn3] AssertionException handling request, closing client connection: 22 Client Error: bad object in message: Cannot use decimal BSON type when the featureCompatibilityVersion is 3.2. See http://dochub.mongodb.org/core/3.4-feature-compatibility.
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2016-12-05T10:09:44.369-0500 I - [conn3] end connection 127.0.0.1:62968 (4 connections now open)
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The server comes up in 3.2 compatibility mode if it finds an existing database that was created with a 3.2 version of the server.
In my case I simply deleted my C:\data\db directory contents and ran the test again and it worked fine (the server comes up in 3.4 compatibility mode when data\db is empty).
Assuming you have existing data in \data\db that you don't want to delete see:
https://docs.mongodb.com/manual/reference/command/setFeatureCompatibilityVersion/#dbcmd.setFeatureCompatibilityVersion
for information about enabling new 3.4 features when running against existing databases.
Let me know if your situation doesn't match what I just described.
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