Well, this is a Captain America film and not the Avengers 3, but there are still some parts in the movie that will link to Infinity War (as marvel has sort of been building it up across all their movies).

When I said it puts the Avengers in a good place, it's because in Civil War we see the Avengers divide and separate into two groups that are against each other, as well as the people turning against them and starting to doubt the Avengers and their ability to help.

Iron Man and Cap were actually friends as stated by Tony when he replies "So was I.." to Cap saying Bucky is his friend so he has to help him, a lot of the fights we see in the Marvel universe are physical but in Civil War it focuses on a fight between the characters mentally creating a divide between them they will later need to fix in Infinity War and also prove to the general population that they need the Avengers.

Civil War alone may not lead too much into Infinity War, but throughout all the Marvel movies they each provide small pieces to how Infinity War will go (like showing us the infinity stones). The Avengers play a key role in Infinity War, so creating an issue between them is something that will definitely be played out in the movie.