Postgres prepare statement caching issue in postgres command line

I have been using postgres prepare statement feature through JDBC. I could see the same prepare statement multiple times, parsing is not happening in postgres backend, which is expected. However I do the same in psql command line, that does not happen. It goes to parsing every time I execute
Using the following query:
postgres=> PREPARE parallel_execute1(text, text) AS insert into actor (first_name, last_name) values ($1, $2);postgres=> PREPARE parallel_execute2(int, int) AS insert into film_actor (actor_id, film_id) values($1, $2);postgres=> execute parallel_execute1;postgres=> execute parallel_execute2;

I have executed both prepared statements 10 times. I could see every time both queries went through parsing. How do I make sure that they do not need parsing in command line? JDBC it works in expected manner. Same code does not go for parsing each time. How can I have same behaviour in pgsql command line?