The US Secretary of State is scheduled to arrive in the Colombian capital on Monday at the start of a Latin American tour.
"Already in #Colombia", the Venezuelan National Assembly leader wrote on Twitter, thanking Colombian President Ivan Duque for his "support for the struggle".
"I can assure you that my return to our country will be full of good news", he added.
Pompeo congratulated Guaido on his re-election and condemned "the failed efforts of the former Maduro regime to negate the will of the democratically elected National Assembly".
The United States, along with some 50 other nations, has recognized Guaido as Venezuela's legitimate head-of-state following an election in 2018 - but a year later, President Nicolas Maduro remains in power.
He once challenged the travel ban, in February 2016, when he traveled secretly to Colombia and then visited several other countries to put together regional support for his challenge to Maduro.
"We hope he'll be there".
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The 36-year-old opposition leader has the support of almost 60 countries, including the United States, which has increasingly tightened its diplomatic and financial vises on Venezuela to force Maduro to step down.
"I look forward to having a meeting with him", Pompeo said.
Maduro accuses Guaido of being a coup-mongering puppet controlled by the White House. Opposition lawmakers than voted in Guaido for a second term as congress chief in a separate session.
Maduro has proposed holding parliamentary elections this year, with the aim of retaking control of the National Assembly, the only national institution in opposition hands.
In an interview published by the Washington Post on Saturday, Maduro said the Trump administration had underestimated his staying power and he "didn't care" about sanctions.
"If there is respect between governments, no matter how large the United States is, and if there is a dialogue, an exchange of truthful information, make sure we can create a new kind of relationship", Maduro told the Post.
"Very productive meeting with the President of Venezuela", Duque said on Twitter late on Sunday. They represent the Venezuelan people and our mission is to Set of free and fair elections ... so that they can have a presidential election that represents them.