Guaido had announced that last weekend's attempt to deliver US -supplied humanitarian aid from Colombia into Venezuela would be politically decisive, but Maduro called the aid part of a scheme to overthrow his government.
"The situation is tense in the United States for Donald Trump, what's happening domestically might force him to focus on domestic issues and get him distracted from the situation in Venezuela".
US envoy for Venezuela Elliott Abrams said after the vote that "the time for a peaceful transition to democracy is now".
More than 50 countries recognise Mr Guaido as Venezuela's rightful president - but Mr Maduro enjoys strong support from Russian Federation, which is eager to challenge United States interventionism, as well as China, which is concerned over the fate of billions of dollars Beijing has lent to Caracas.
Similarly, EU foreign policy chief Federica Mogherini warned on Saturday that any possible measure that could put at risk Venezuelan opposition leader Juan Guaido's freedom and safety would lead to a new escalation of crisis around the Latin American country and face a strong worldwide condemnation.
In Moscow, Foreign Minister Sergey Lavrov met with Venezuelan Vice President Delcy Rodriguez and said Russian Federation would counteract any attempts to intervene in Venezuela's domestic affairs.
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Secretary of State Mike Pompeo says Washington is still working on plans to get humanitarian aid delivered to Venezuela. "We will continue expanding cooperation and strengthening our relations", he said. But Maduro retains control of state institutions and the support of the armed forces, and military intervention is seen as unlikely.
Mr Lavrov voiced hope that worldwide pressure would "cool hotheads in Washington" who he said are seeking military intervention in Venezuela.
The opposition-dominated National Assembly is headed by Guaido, who declared himself interim president of Venezuela on January 23 in response to dire conditions in the country, whose economy has been in free fall for years. He alleged that the United States was planning to buy small arms, mortar launchers and shoulder-fired anti-aircraft missiles from an "Eastern European country" and station them "close to Venezuela". He said his administration supported decisions made by regional leaders in Bogota earlier this week, when representatives discussed sanctions and diplomatic pressure but ruled out military intervention.
"Venezuela today is a completely failed state, and this should not go on like that", Moreno said after a meeting with Venezuelan opposition leader Juan Guaido in Salinas. "In this case, Guaido has to answer before the Justice and not before Nicolas Maduro", the president added.
"I announce my return to the country and I call for mobilisations in all the national territory", Guaido wrote on twitter.