Why is printf with a single argument (without conversion specifiers) deprecated?

printf("Hello World!"); is IMHO not vulnerable but consider this:

const char *str;
...
printf(str);

If str happens to point to a string containing %s format specifiers, your program will exhibit undefined behaviour (mostly a crash), whereas puts(str) will just display the string as is.

Example:

printf("%s");   //undefined behaviour (mostly crash)
puts("%s");     // displays "%s\n"