Why does a new taxonomy term get created when I assign an existing term to a post?

Thanks to @Milo for the solution. I deleted all the defaults to condense the code, and then changed the ‘meta_box_cb’ parameter to ‘post_categories_meta_box’, and it did indeed give me a tag-style metabox.

As an aside, that’s not exactly what I envisioned, so I ended up using CMB2‘s taxonomy_radio field to get what I was after (a drop-down would have worked too):

CMB2 metabox with a taxonomy_radio field