At least the errors are being put into /var/log/pcsd:

~$ sudo pcs cluster auth cluster01 cluster02
Username: hacluster
Password: 
I, [2016-11-28T11:52:35.006533 #7817]  INFO -- : Running: /usr/sbin/corosync-cmapctl totem.cluster_name
I, [2016-11-28T11:52:35.006602 #7817]  INFO -- : CIB USER: hacluster, groups: 
I, [2016-11-28T11:52:35.022368 #7817]  INFO -- : Return Value: 0
I, [2016-11-28T11:52:35.022619 #7817]  INFO -- : Attempting login by 'hacluster'
I, [2016-11-28T11:52:35.034284 #7817]  INFO -- : Running: id -Gn hacluster
I, [2016-11-28T11:52:35.034367 #7817]  INFO -- : CIB USER: hacluster, groups: 
I, [2016-11-28T11:52:35.040102 #7817]  INFO -- : Return Value: 0
I, [2016-11-28T11:52:35.040184 #7817]  INFO -- : Successful login by 'hacluster'
192.168.65.53 - - [28/Nov/2016:11:52:35 -0200] "POST /remote/auth HTTP/1.1" 200 36 0.0344
192.168.65.53 - - [28/Nov/2016:11:52:35 -0200] "POST /remote/auth HTTP/1.1" 200 36 0.0344
192.168.65.53 - - [28/Nov/2016:11:52:35 BRST] "POST /remote/auth HTTP/1.1" 200 36
- -> /remote/auth
I, [2016-11-28T11:52:35.173157 #7817]  INFO -- : Running: /usr/sbin/corosync-cmapctl totem.cluster_name
I, [2016-11-28T11:52:35.173221 #7817]  INFO -- : CIB USER: hacluster, groups: 
I, [2016-11-28T11:52:35.196961 #7817]  INFO -- : Return Value: 0
I, [2016-11-28T11:52:35.197219 #7817]  INFO -- : Attempting login by 'hacluster'
I, [2016-11-28T11:52:35.207612 #7817]  INFO -- : Running: id -Gn hacluster
I, [2016-11-28T11:52:35.207690 #7817]  INFO -- : CIB USER: hacluster, groups: 
I, [2016-11-28T11:52:35.213160 #7817]  INFO -- : Return Value: 0
I, [2016-11-28T11:52:35.213236 #7817]  INFO -- : Successful login by 'hacluster'
W, [2016-11-28T11:52:35.213704 #7817]  WARN -- : Cannot read config 'tokens' from '/var/lib/pcsd/tokens': No such file or directory @ rb_sysopen - /var/lib/pcsd/tokens
E, [2016-11-28T11:52:35.213786 #7817] ERROR -- : Unable to parse tokens file: A JSON text must at least contain two octets!
I, [2016-11-28T11:52:35.213820 #7817]  INFO -- : SRWT Node: cluster01 Request: check_auth
E, [2016-11-28T11:52:35.213841 #7817] ERROR -- : Unable to connect to node cluster01, no token available
W, [2016-11-28T11:52:35.219341 #7817]  WARN -- : Cannot read config 'tokens' from '/var/lib/pcsd/tokens': No such file or directory @ rb_sysopen - /var/lib/pcsd/tokens
E, [2016-11-28T11:52:35.219381 #7817] ERROR -- : Unable to parse tokens file: A JSON text must at least contain two octets!
I, [2016-11-28T11:52:35.221016 #7817]  INFO -- : SRWT Node: cluster02 Request: check_auth
E, [2016-11-28T11:52:35.223004 #7817] ERROR -- : Unable to connect to node cluster02, no token available
I, [2016-11-28T11:52:35.225237 #7817]  INFO -- : No response from: cluster01 request: /auth, exception: undefined method `[]' for nil:NilClass
I, [2016-11-28T11:52:35.227582 #7817]  INFO -- : No response from: cluster02 request: /auth, exception: undefined method `[]' for nil:NilClass
192.168.65.53 - - [28/Nov/2016:11:52:35 -0200] "POST /remote/auth HTTP/1.1" 200 36 0.0549
192.168.65.53 - - [28/Nov/2016:11:52:35 -0200] "POST /remote/auth HTTP/1.1" 200 36 0.0550
192.168.65.53 - - [28/Nov/2016:11:52:35 BRST] "POST /remote/auth HTTP/1.1" 200 36
- -> /remote/auth
cluster02: Authorized
cluster01: Authorized
I, [2016-11-28T11:52:46.549260 #7817]  INFO -- : Running: /usr/sbin/corosync-cmapctl totem.cluster_name
I, [2016-11-28T11:52:46.549344 #7817]  INFO -- : CIB USER: hacluster, groups: 
I, [2016-11-28T11:52:46.561199 #7817]  INFO -- : Return Value: 0
I, [2016-11-28T11:52:46.561292 #7817]  INFO -- : Running: /usr/sbin/pcs status nodes corosync
I, [2016-11-28T11:52:46.563095 #7817]  INFO -- : CIB USER: hacluster, groups: 
I, [2016-11-28T11:52:46.650913 #7817]  INFO -- : Return Value: 0
W, [2016-11-28T11:52:46.651072 #7817]  WARN -- : Cannot read config 'pcs_settings.conf' from '/var/lib/pcsd/pcs_settings.conf': No such file or directory @ rb_sysopen - /var/lib/pcsd/pcs_settings.conf
W, [2016-11-28T11:52:46.651108 #7817]  WARN -- : Cannot read config 'tokens' from '/var/lib/pcsd/tokens': No such file or directory @ rb_sysopen - /var/lib/pcsd/tokens