"पानी पियो ।"
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पानी पिला(very informal)/पानी पिलाओ(informal)/पानी पिलाइए (formal) is 'Make (someone else to) drink water' whereas पानी पी/पानी पियो/पानी पीजिए is 'Drink water'.
Eg: पानी पियो और अपने बच्चे को भी पिलाओ ('Drink water and also make your child drink it')
पिला is an imperative form of the verb पिलाना which is derived from the root verb पीना and means 'to make someone drink'. Many verbs have such derived verbs. Eg: खिलाना (to feed/to make someone eat), कराना (to make someone do) etc.
पानी पिएँ is the subjunctive rather than the imperative form. It is considered very polite, even more so than the आप-form of the imperative (पानी पीजिए), because it is framed as a suggestion instead of a command or a request.
You will usually encounter this form in airline announcements, ads, etc, and rarely in conversational Hindi. However, there are certain dialects of Hindi/Urdu (the dialects spoken around the city of Lucknow, for example) where the form is used a lot.