'pcs cluster auth' fails with "Unable to connect to pcsd" or "Unable to communicate" in a High Availability cluster with pacemaker

Issue

• While configuring the pacemaker cluster, pcs cluster auth command is failing with the below error message

# pcs cluster auth node1 node2
Username: hacluster
Password:
Error: unable to connect to pcsd on node1
Unable to connect to node1 ([Errno -2] Name or service not known)

• A cluster node was not authorized:

# pcs cluster auth 10.X.X.1 10.X.X.2
Username: hacluster
Password: 
10.X.X.1: Already authorized
Error: Unable to communicate with 10.X.X.2