Docker daemon fails

I am using Ubuntu 14.04 on Dell Latitude E6430 and have installed docker.io package. Now whenever I restart my system, first docker command fails with message

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

Hence to fix this i run below command and daemon works like charm

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    I have check previous questions and none answer this behaviour
    Any idea why is breaking ?

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