Answer: 504

Solution:

The circle is tangent to both parallel sides, so the height of the trapezoid is $2 \cdot 3 = 6.$ From the area, $\frac{r + s}{2} \cdot 6 = 72,$ so $r + s = 24.$ By the Pitot theorem the legs together also sum to $24,$ and since the trapezoid is isosceles each leg is $12.$

Dropping a perpendicular from an endpoint of the shorter base, the leg is the hypotenuse of a right triangle with legs $6$ and $\frac{|r - s|}{2}:$ $$144 = 36 + \left(\frac{r - s}{2}\right)^2,$$ so $(r - s)^2 = 432.$ Therefore $r^2 + s^2 = \frac{(r+s)^2 + (r-s)^2}{2}$ $= \frac{576 + 432}{2} = 504.$