Timestamp format different in HiveCLI and Beeline

The issue can be reproduced with the following commands:

create table timestamp_test(t timestamp);
insert into table timestamp_test values('2000-01-01 01:00:00');
select * from timestamp_test;

The timestamp is displayed without nanoseconds in HiveCLI:

2000-01-01 01:00:00

When the exact same timestamp is displayed in BeeLine it displays:

2000-01-01 01:00:00.0