Verify the certificate

openssl x509 -in server/certs/client.crt -text -noout
openssl x509 -in server/certs/server.crt -text -noout

Verify the certificate chain

# First, concatenate the CA certificates (leaf to root)
cat mid-ca.crt ca.cert > ca-bundle.crt

# Then verify using the chain file
openssl verify -CAfile ca-bundle.crt server/certs/client.crt
openssl verify -CAfile ca-bundle.crt server/certs/server.crt

See also:

OpenSSL - Initial Setup

OpenSSL (1) - Root CA

OpenSSL (2) - Intermediate CA

OpenSSL (3) - Server Certificate

OpenSSL (4) - Client Certificate

OpenSSL - Verify Certificate

OpenSSL - Revoke Certificate