More than likely DOT3. It is listed on the master cylinder fill cap.
Sp 3 only from dealer
According to Hyundai you should use Hyundai SPIII or use DEXRON III ATF.
It's a manual transmission, it doesn't need fluid at all.
Dexron III automatic transmission fluid
according specs Hyundai it will be dot 3.
Automatic - Hyundai SP3/SP4 Manual - SAE 75W/90
The 2002 Hyundai Elantra has double overhead cam (DOHC).
The 2006 Hyundai Elantra has double overhead cam (DOHC).
The 2003 Hyundai Elantra has double overhead cam (DOHC).
The 2005 Hyundai Elantra has double overhead cam (DOHC).
The 2001 Hyundai Elantra has double overhead cam (DOHC).
The 2011 Hyundai Elantra has double overhead cam (DOHC).