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I am running a SAM template through AWS CodeBuild using a buildspec.yml file
I believe that this issue is caused by pip installing a default python 2.7 version of the aws-sam-cli package. I'm not that familiar with how to pip install the python3 version of a package. Here is a snippet of my buildspec.yml:

phases:
 pre_build:
 commands:
 - echo "Pre-Build Phase started - SAM Deployment"
 - alias python=python3
 - pip install --upgrade pip
 - pip install aws-sam-cli # install the sam cli
 - USER_BASE_PATH=$(python -m site --user-base) # save the path to the user's local packages folder to a variable (as opposed to the global packages folder)
 - export PATH=$PATH:$USER_BASE_PATH/bin # add the user's local packages folder to PATH
 - sam --version # verify "sam" can now be called
 build:
 commands:
 - sam package --runtime python3 --template-file $INPUT_FILE --output-template-file $OUTPUT_FILE --s3-bucket $S3_BUCKET # package the template to an S3 bucket
...

Has anyone ever run into this issue?

For anyone revisiting this question I figured it out. Below is my revised buildspec.yml snippet. I had to install the awscli package with pip3.

phases:
 pre_build:
 commands:
 - echo "Pre-Build Phase started - SAM Deployment"
 - ls -ltr # list directory contents from oldest to new
 - sudo apt-get update
 - sudo apt-get -y install python3-pip
 - sudo pip3 install --upgrade awscli
 - apt-get update > /dev/null # get list of package updates from 
 repositories
 - apt-get install jq -y > /dev/null # install 32-bit JSON processor
 - jq --version # check JSON processor installed / which version
 - wget -q https://github.com/stedolan/jq/releases/download/jq-1.5/jq-linux64 # get 64-bit JSON processor
 - chmod +x jq-linux64 # make executable
 - mv jq-linux64 $(which jq) # make "jq" alias point to 64-bit jq
 - jq --version # verify jq points to new version
 - alias python=python3
 - pip install aws-sam-cli # install the sam cli
 - USER_BASE_PATH=$(python -m site --user-base) # save the path to the user's local packages folder to a variable (as opposed to the global packages folder)
 - export PATH=$PATH:$USER_BASE_PATH/bin # add the user's local packages folder to PATH
 - sam --version # verify "sam" can now be called
 build:
 commands:
 - sam package --template-file $INPUT_FILE --output-template-file $OUTPUT_FILE --s3-bucket $S3_BUCKET # package the template to an S3 bucket