There's no easy way to submit a fix to this doc https://hive.apache.org/developement/quickstart/ so I'm writing my fix here.
In doc it says:
docker run -d -p 10000:10000 -p 10002:10002 --env SERVICE_NAME=hiveserver2 --name hive4 apache/hive:${HIVE_VERSION}
docker exec -it hiveserver2 beeline -u 'jdbc:hive2://hiveserver2:10000/'