To access Hive Server using JDBC client, you have to install JDBC driver. If you are using Centos then you can install it using the below command:
$ sudo yum install hive-jdbc
And if you are using Ubuntu, then use this:
$ sudo apt-get install hive-jdbc
And after that add /usr/lib/hive/lib/*.jar and /usr/lib/hadoop/*.jar to your classpath. This should work.