When the intended addressee is clear, the verb form is clear; an underspecified Urdu pronoun may not determine it.
لَا تَأْكُلُوا بِالشِّمَالِ فَإِنَّ الشَّيْطَانَ يَأْكُلُ بِالشِّمَالِ
Do not eat with the left hand, for Satan eats with the left hand. Here “you all” clearly requires تَأْكُلُوا.
The Urdu prompt “وہ ٹھنڈا پانی نہ پیئیں” does not by itself tell us whether “وہ” refers respectfully to one person or to several people. Arabic person and number must not be guessed without context.