To find the actual distance between the two cities based on the map distance, we can use the scale provided in the map key.
The map key states that every 3 centimeters on the map represents 5 kilometers in reality.
First, we need to determine how many sets of 3 centimeters are in 81 centimeters:
\[ \text{Number of sets of 3 cm} = \frac{81 \text{ cm}}{3 \text{ cm}} = 27 \]
Since each set of 3 centimeters represents 5 kilometers, we can find the actual distance by multiplying the number of sets by the distance represented by each set:
\[ \text{Actual distance} = 27 \times 5 \text{ km} = 135 \text{ km} \]
Thus, the two cities are 135 kilometers apart.