Lord Hanuman came to quell Bhima's pride. Once when Bhima was on his way in the forest, an aged monkey blocked his path. Still swollen in his pride, he called out loud the monkey to clear his way. The monkey requested Bhima to move his tail aside and the latter was unsuccessful even after applying all his might. He apologized to the monkey and then lord Hanuman displayed his real form to his brother Bhima after realizing that his pride has been crushed.
Arjun & Hanuman actually happened during his own exile from Indraprastha, not during the Pandava exile. All depictions show him in royal garb, not in vanvasi garb.