"kafka.zookeeper.ZooKeeperClientTimeoutException: Timed out waiting for connection" ONLY DURING LISTING TOPICS

I found few questions with similar topic but different context: I can connect to create a Topic but I can’t list the topics because I got the error mentioned below (as far as I could see, people were facing issues for basic connecting while I am getting only for listing the topic list).

In case it matters, here is my docker-compose.yml:

version: "3"
services:
    zookeeper:
        image: wurstmeister/zookeeper

    kafka:
        image: wurstmeister/kafka
        ports:
            - "9092:9092"
        environment:
            KAFKA_ADVERTISED_HOST_NAME: "localhost"
            KAFKA_ZOOKEEPER_CONNECT: "zookeeper:2181"

My console:

bash-4.4# kafka-topics.sh --create --zookeeper zookeeper:2181 --replication-factor 1 --partitions 1 --topic test2
Created topic test2.
bash-4.4# kafka-topics.sh --list --zookeeper localhost:2181
Exception in thread "main" kafka.zookeeper.ZooKeeperClientTimeoutException: Timed out waiting for connection while in state: CONNECTING
        at kafka.zookeeper.ZooKeeperClient.$anonfun$waitUntilConnected$3(ZooKeeperClient.scala:259)
        at scala.runtime.java8.JFunction0$mcV$sp.apply(JFunction0$mcV$sp.java:23)
        at kafka.utils.CoreUtils$.inLock(CoreUtils.scala:253)
        at kafka.zookeeper.ZooKeeperClient.waitUntilConnected(ZooKeeperClient.scala:255)
        at kafka.zookeeper.ZooKeeperClient.<init>(ZooKeeperClient.scala:113)
        at kafka.zk.KafkaZkClient$.apply(KafkaZkClient.scala:1858)
        at kafka.admin.TopicCommand$ZookeeperTopicService$.apply(TopicCommand.scala:321)
        at kafka.admin.TopicCommand$.main(TopicCommand.scala:54)
        at kafka.admin.TopicCommand.main(TopicCommand.scala)
bash-4.4# kafka-topics.sh --create --zookeeper zookeeper:2181 --replication-factor 1 --partitions 1 --topic test3
Created topic test3.
bash-4.4# kafka-topics.sh --list --zookeeper localhost:2181
Exception in thread "main" kafka.zookeeper.ZooKeeperClientTimeoutException: Timed out waiting for connection while in state: CONNECTING
        at kafka.zookeeper.ZooKeeperClient.$anonfun$waitUntilConnected$3(ZooKeeperClient.scala:259)
        at scala.runtime.java8.JFunction0$mcV$sp.apply(JFunction0$mcV$sp.java:23)
        at kafka.utils.CoreUtils$.inLock(CoreUtils.scala:253)
        at kafka.zookeeper.ZooKeeperClient.waitUntilConnected(ZooKeeperClient.scala:255)
        at kafka.zookeeper.ZooKeeperClient.<init>(ZooKeeperClient.scala:113)
        at kafka.zk.KafkaZkClient$.apply(KafkaZkClient.scala:1858)
        at kafka.admin.TopicCommand$ZookeeperTopicService$.apply(TopicCommand.scala:321)
        at kafka.admin.TopicCommand$.main(TopicCommand.scala:54)
        at kafka.admin.TopicCommand.main(TopicCommand.scala)
bash-4.4#

Source: StackOverflow