I am using below query to fetch PermissionSet assigned to users in org :
SELECT Id, PermissionSetId, AssigneeId FROM PermissionSetAssignment

And to fetch PermissionSetLicense assigned to users in org :
SELECT Id, AssigneeId, PermissionSetLicenseId FROM PermissionSetLicenseAssign

Is there any query / innerjoin or other way to fetch both((PermissionSet & PermissionSetLicense)) in single query?

OR Can I fetch both(PermissionSet & PermissionSetLicense) while fetching users ?
my users query is : 
SELECT Id, Username, LastName, FirstName FROM User