"Exactly like when a charged object is discharged and it needs some time to charge up again"again."
That is exactly what you are hearing. The output is AC coupled though-coupled through a capacitor to the headphones to block any DC component of the signal. With the headphones first unplugged the capacitor had one side open circuit so it stays discharged.
When you plug in the headphones, the capacitor needs to charge to whatever the DC voltage is before it... and POP.. you hear that current as it energizes the speakers in the headphones.
Unplug and plug again, the capacitor retains that charge a long time.
Note the same effect can be heard through the speakers when first turning on an amp if special measures are not taken to limit it.
This can be significantly corrected by adding a largish resistor to ground across the outputs of the amp on the right of the cap.
ADD By the way, the reason you only hear it on one speaker is likely to do with the way jack plugs work. The right speaker is likely attached to the tip of the plug, as such, as you plug it in it first makes contact with the left channel, charging that cap, then makes contact with it'sits own channel charging that, too. By the time the left speaker contact makes it'sits connection it's, its output capacitor is already charged.