diff --git a/can/message.py b/can/message.py
index 02706583c..63a4eea41 100644
--- a/can/message.py
+++ b/can/message.py
@@ -110,10 +110,10 @@ def __init__(  # pylint: disable=too-many-locals, too-many-arguments
     def __str__(self) -> str:
         field_strings = [f"Timestamp: {self.timestamp:>15.6f}"]
         if self.is_extended_id:
-            arbitration_id_string = f"ID: {self.arbitration_id:08x}"
+            arbitration_id_string = f"{self.arbitration_id:08x}"
         else:
-            arbitration_id_string = f"ID: {self.arbitration_id:04x}"
-        field_strings.append(arbitration_id_string.rjust(12, " "))
+            arbitration_id_string = f"{self.arbitration_id:03x}"
+        field_strings.append(f"ID: {arbitration_id_string:>8}")
 
         flag_string = " ".join(
             [
diff --git a/doc/message.rst b/doc/message.rst
index d47473e17..e0003cfe5 100644
--- a/doc/message.rst
+++ b/doc/message.rst
@@ -44,7 +44,7 @@ Message
         2\ :sup:`29` - 1 for 29-bit identifiers).
 
             >>> print(Message(is_extended_id=False, arbitration_id=100))
-            Timestamp:        0.000000        ID: 0064    S Rx                DL:  0
+            Timestamp:        0.000000    ID:      064    S Rx                DL:  0
 
 
     .. attribute:: data
@@ -106,7 +106,7 @@ Message
         Previously this was exposed as `id_type`.
 
         >>> print(Message(is_extended_id=False))
-        Timestamp:        0.000000        ID: 0000    S Rx                DL:  0
+        Timestamp:        0.000000    ID:      000    S Rx                DL:  0
         >>> print(Message(is_extended_id=True))
         Timestamp:        0.000000    ID: 00000000    X Rx                DL:  0