SELECT 
  CONCAT(u.firstname, ' ', u.lastname) as author, 
  b.page_id 
FROM 
  cscart_blog_authors as b 
  LEFT JOIN cscart_users as u ON b.user_id = u.user_id 
WHERE 
  b.page_id IN (56, 55, 47)

Query time 0.00017

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "b",
      "access_type": "range",
      "possible_keys": ["PRIMARY"],
      "key": "PRIMARY",
      "key_length": "3",
      "used_key_parts": ["page_id"],
      "rows": 3,
      "filtered": 100,
      "attached_condition": "b.page_id in (56,55,47)",
      "using_index": true
    },
    "table": {
      "table_name": "u",
      "access_type": "eq_ref",
      "possible_keys": ["PRIMARY"],
      "key": "PRIMARY",
      "key_length": "3",
      "used_key_parts": ["user_id"],
      "ref": ["multi_vendor.b.user_id"],
      "rows": 1,
      "filtered": 100
    }
  }
}