The endings used in a predicate can be divided into two classes. They are the connective endings and word final endings.
The connective endings function as conjunctions in English, whereas word final endings are only used for closing a sentence. For examples,
가다, 가-고, 가-니, 가-(아)서, 가-지만, 가-면
The word final endings are divided into two types, pre-final endings and sentence final endings.
conjugation: verb stem + pre-final endings + final ending
The pre-final endings include :
honorific for the agent of verb: -(으)시-,
past tense : -았-/-었-/-였-
humbleness for the speaker: -(사)옵-
And the sentence final endings can be classified by seven speech levels according to the hearer/listener honorific system, 해라체, 해체, 해요체, 하게체, 하오체, 하십시오체, and 하소서체 , and by the sentence types such as declarative, interrogative, imperative, propositive, and exclamative.
The honorific ending -시- changes normal verbs into honorific forms. This is used for only the agent of verb. Whereas the hearer honorific system are used for only who is spoken to, So, you should not confuse between these two methods.
For examples,
verb: 가다
honorific form: 가-시-다
The followings are the past tense declarative form of verb 가다/가시다 according to speech levels
해라체: 갔다/가시었다
해체 : 갔어/가시었어
해요체 : 갔어요/가시었어요
하게체 : 갔네/가시었네
하오체 : 갔소/가시었소
하십시오체 : 갔습니다/가시었습니다
하소서체 : 갔사옵나이다/가시었사옵나이다
The endings '-ㅂ니다' and '-습니다' in 하십시오체 are derived from '-옵-나이다' and '-사옵-나이다' in 하소서체. In other word, the letter 'ㅂ/습' in 'ㅂ니다/습니다' can be thought to a kind of clitic for pre-final ending '-옵-/-사옵-'.