This completely depends on what configuration are you trying to change.
For example :
We changed the value of hive.exec.compress.output to true and restarted 1 hiveserver2 and when we checked beeline set hive.exec.compress.output the value got changed.
2. Then we changed the log4j property hive.root.logger value to Debug and then just restarted hiveserver2 but the change didn't take effect until we restart Hive metastore on the host
3. Then we changed hadoop.security.credential.provider.path this value but this didn't take effect until we refresh the client configs first and then restart metastore and Hiveserver2. (restart order is important)