How do I get a YouTube video thumbnail from the YouTube API?

Each YouTube video has four generated images. They are predictably formatted as follows:

https://img.youtube.com/vi/<insert-youtube-video-id-here>/0.jpg

https://img.youtube.com/vi/<insert-youtube-video-id-here>/1.jpg

https://img.youtube.com/vi/<insert-youtube-video-id-here>/2.jpg

https://img.youtube.com/vi/<insert-youtube-video-id-here>/3.jpg

The first one in the list is a full size image and others are thumbnail images. The default thumbnail image (i.e., one of 1.jpg, 2.jpg, 3.jpg) is:

https://img.youtube.com/vi/<insert-youtube-video-id-here>/default.jpg

For the high quality version of the thumbnail use a URL similar to this:

https://img.youtube.com/vi/<insert-youtube-video-id-here>/hqdefault.jpg

There is also a medium quality version of the thumbnail, using a URL similar to the HQ:

https://img.youtube.com/vi/<insert-youtube-video-id-here>/mqdefault.jpg

For the standard definition version of the thumbnail, use a URL similar to this:

https://img.youtube.com/vi/<insert-youtube-video-id-here>/sddefault.jpg

For the maximum resolution version of the thumbnail use a URL similar to this:

https://img.youtube.com/vi/<insert-youtube-video-id-here>/maxresdefault.jpg

All of the above URLs are available over HTTP too. Additionally, the slightly shorter hostname i3.ytimg.com works in place of img.youtube.com in the example URLs above.