"The United States maintains diplomatic relations with Venezuela and will conduct our relations with Venezuela through the government of interim President Guaido, who has invited our mission to remain in Venezuela", Secretary of State Mike Pompeo said in a statement.
On Thursday, Maduro instructed all Venezuelan diplomats in the U.S.to return home and closed his country's embassy in Washington.
On Wednesday, President Donald Trump recognized the opposition leader and head of Venezuela's parliament as the interim president. Its hardships are further exacerbated by pressure from Washington that seeks to depose the current government led by Maduro.
China, Mexico, Cuba as well as a North Atlantic Treaty Organisation member, Turkey, are among the nations which have also rejected the attempted coup. It was one of many rallies held in Canadian cities and around the world in response to an appeal from Venezuela's National Assembly to take to the streets.
Leopoldo Martinez - Former Venezuelan congressman and president of The Center for Democracy and Development in the Americas.
Mexico, however, stood apart, saying it recognizes "the authorities elected in accordance with the Venezuelan constitution", seen as a lukewarm nod to Maduro.
Venezuelan authorities said they had put down an attempted revolt on Monday by rogue military officers about a kilometre from the presidential palace in Caracas.
The Russian embassy wrote on Twitter, "The only thing left is to hope that the U.S. Administration will not pursuit [sic] foreign ventures, for instance, in Syria or Venezuela in attempt to shift public opinion from the aftermath of the shutdown".
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Guaido's declaration takes Venezuela into uncharted territory, with the possibility of the opposition now running a parallel government recognised overseas as legitimate but without control over state functions.
It is hard to recognize Nicolas Maduro as the country's president, because "it was clear, that there were so many violations of voting rights that limit the ability to call it a democratic vote", Maas added.
Guaido's interim presidency has been supported by around a dozen countries, mostly Latin American ones, and the United States, Canada and France as well. He said the armed forces will never accept a leader forced on their country.
"(Simon) Bolivar used to curse against soldiers who give their back to the people", Guaido said, referring to Venezuela's independence hero.
"This is as dramatic a situation as any that I can think of", said Max Cameron, a professor of political science with a focus on Latin American affairs at the University of British Columbia.
Juan Guaido has said he needs the backing of three key groups: The people, the global community and the military.
Though many rank-and-file troops suffer the same hardships as countless other Venezuelans when it comes to meeting basic needs like feeding their families, Maduro has worked to cement their support with bonuses and other special benefits.
But there were no signs that security forces were widely heeding Guaido's call to go easy on demonstrators.
After years of turmoil, Venezuela's political crisis has escalated dramatically over the past few days.