I guess you accidentally put ':' into your path.

Also make sure that HADOOP_HOME is set correctly, because one will get ClassNotFound exception with the same libs your mentioned, when trying to run hive CLI.
According to documentation HADOOP_HOME is the requirement.

Although it's written that hive 4.0.1 works with Hadoop 3.3.6, I've just checked it with Hadoop 3.4.1 and It works (despite some warns of multiple SLF4J bindings, which should be fixed by devops or devs)

PS: I don't quite get what does 'query data on apache spark with hive' means. Usually, spark utilizes hive metastore to query Hive's tables.