It is mostly to do with the viscosity difference.
When you heat water up, its molecules get more energy and bounce of each other more, this makes the liquid move around more easily, and thus it is less viscous.
This higher viscosity means two things: It splashes more easily, and it bubbles more. These are the two effects you hear most.
Rather than doing a bad job of conveying the same information, I will refer you too Steve Mould’s video on Tom Scotts’ channel about this very issue: https://www.youtube.com/watch?v=Ri_4dDvcZeM
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