Air carrier flight crew reported hydraulic system malfunction after takeoff. Returned to departure airport and landed uneventfully.

Narrative

During preflight inspection of the Logbook I noticed that on the previous flight Aircraft X suffered a complete loss of fluid quantity in the HYD B system and that there was extensive maintenance conducted on the aircraft hydraulic system.During after start flow; FO noted that the controls are stiff; I checked them as well and notes the same; but within tolerances.After takeoff and gear up and around 400 ft.; we get a master caution light with HYD recall light; FO looked up and notice that both HYD A LOW PRESSURE lights have flashed on for approximately 3 seconds. FO switched the SYS page where we watch the HYD A system rapidly lose fluid quantity down to approximately 70%; and then slowly bleed off down to the lowest of around 67%. We also smelled hydraulic fluid in the flight deck. I instruct the FO to [request priority handling] and request vectors for a return to ZZZ for visual [Runway] XXC.Above 1;000 AGL I transfer the controls and radios to the FO. I then run the HYP Pump Low Pressure QRH; which leads me to Loss of System A QRH. I then run the Company routing landing QRH. I message dispatch; brief the FA's (Flight Attendant); and make an address to the passengers. FO informed ATC of all the necessary info and programmed the FMS for a Visual backed up by an ILS to RWY XXC. After verifying the FMS I brief the approach and resume full duties as Pilot Monitoring. Upon approach clearance I complete the manual gear extension procedure. We begin the arrival and land on the runway and come to a stop while ARFF (Airport Rescue and Firefighting) checks on the plane. They note they don't see anything wrong; and we get the gear pins installed and taxi under our own power to the gate. We chat with Maintenance a bit after engine shut down and give them our notes; debrief with the FA's and deplane.The knowledge that one of the hydraulic systems completely drained itself the day prior was in the back of my mind.I believe we acted in accordance with the information we had at hand.