Start pcsd (both nodes), destroy the default cluster and authenticate (only one node)

$ sudo systemctl start pcsd
$ sudo systemctl start pcsd
$ sudo pcs cluster destroy
Shutting down pacemaker/corosync services...
Killing any remaining services...
Removing all cluster configuration files...

$ sudo pcs host auth dhcp-236.tux.local dhcp-237.tux.local
Username: hacluster
Password:
dhcp-236: Authorized
dhcp-237: Authorized