boot2docker Cannot connect to the Docker daemon. Is the docker daemon running on this host?

I saw a similar question but it was related to the newer docker-machine so it's not duplicate. So, basically what I've done - I removed docker VM (boot2docker-vm) from Virtual Box then recreated it using boot2docker init, started it and after that I'm getting the error on any docker command:

Cannot connect to the Docker daemon. Is the docker daemon running on this host?

no matter what I tried, even full reinstall using homebrew. I'm able to login to this machine using boot2docker ssh, I can check its IP addresses and check that daemon is running there on the required port. Also I ensured that DOCKER_HOST points to the correct address/port. Could somebody provide an idea what else I could check or the direction in which I should work?

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