User is not authorized to create topic or queue error

Issue

When sending or consuming messages from a broker, the user attempts to connect to a queue or topic that does not yet exist and receives an error similar to this:

2014-03-03 02:38:27,373 | WARN  | 0.99:33109@42378 | Transport                        |
 this.broker.TransportConnection  238 | 69 - org.apache.activemq.activemq-osgi - 5.8.0.redhat-60057 |
 Transport Connection to: tcp://0.0.0.0:44444 failed: java.io.EOFException
2014-03-03 02:38:29,364 | INFO  | broker] Task-135 | TransportConnection              |
 this.broker.TransportConnection$3 1045 | 69 - org.apache.activemq.activemq-osgi - 5.8.0.redhat-60057 |
 Stopping tcp://0.0.0.0:44444 because Failed with SecurityException: 
 User USERNAME is not authorized to create: topic://ActiveMQ.Advisory.Connection