Boxplots
Here is a relevant section from Hoaglin, Mosteller and Tukey (2000): Understanding Robust and Exploratory Data Analysis. Wiley. Chapter 3, "Boxplots and Batch Comparison", written by John D. Emerson and Judith Strenio (from page 62):
[...] Our definition of outliers as data values that are smaller than
$F_{L}-\frac{3}{2}d_{F}$ or larger than $F_{U}+\frac{3}{2}d_{F}$ is
somewhat arbitrary, but experience with many data sets indicates that
this definition serves well in identifying values that may require
special attention.[...]
$F_{L}$ and $F_{U}$ denote the first and third quartile, whereas $d_{F}$ is the interquartile range (i.e. $F_{U}-F_{L}$).
They go on and show the application to a Gaussian population (page 63):
Consider the standard Gaussian distribution, with mean $0$ and variance
$1$. We look for population values of this distribution that are analogous to the sample values used in the boxplot. For a symmetric
distribution, the median equals the mean, so the population median of
the standard Gaussian distribution is $0$. The population fourths are
$-0.6745$ and $0.6745$, so the population fourth-spread is $1.349$, or
about $\frac{4}{3}$. Thus $\frac{3}{2}$ times the fourth-spread is
$2.0235$ (about $2$). The population outlier cutoffs are $\pm 2.698$
(about $2\frac{2}{3}$), and they contain $99.3\%$ of the distribution.
[...]
So
[they] show that if the cutoffs are applied to a Gaussian
distribution, then $0.7\%$ of the population is outside the outlier
cutoffs; this figure provides a standard of comparison for judging the
placement of the outlier cutoffs [...].
Further, they write
[...] Thus we can judge whether our data seem heavier-tailed than Gaussian
by how many points fall beyond the outlier cutoffs. [...]
They provide a table with the expected proportion of values that fall outside the outlier cutoffs (labelled "Total % Out"):

So these cutoffs where never intended to be a strict rule about what data points are outliers or not. As you noted, even a perfect Normal distribution is expected to exhibit "outliers" in a boxplot.
Outliers
As far as I know, there is no universally accepted definition of outlier. I like the definition by Hawkins (1980):
An outlier is an observation which deviates so much from the other
observations as to arouse suspicions that it was generated by a
different mechanism.
Ideally, you should only treat data points as outliers once you understand why they don't belong to the rest of the data. A simple rule is not sufficient. A good treatment of outliers can be found in Aggarwal (2013).
References
Aggarwal CC (2013): Outlier Analysis. Springer.
Hawkins D (1980): Identification of Outliers. Chapman and Hall.
Hoaglin, Mosteller and Tukey (2000): Understanding Robust and Exploratory Data Analysis. Wiley.