Roughly 40 countries around the world have backed Guaido, who swore himself in as president in January.
At the request of Interim President Juan Guaidó, the United States is immediately pre-positioning emergency supplies in Colombia to provide relief to Venezuelans coping with severe food and medicine shortages.
"Humanitarian aid now. United public outcry".
Guaido told a packed 2,700-seat theatre at the Central University of Venezuela that Maduro's days were numbered, as he clings to power.
"The main objective here is to bring humanitarian assistance - and if it must be done by military support, so be it", he said at a news conference at United Nations headquarters in NY. "If it wasn't for the Cuban thugs that are there taking care of Maduro, Maduro would already be gone".
Maduro says Venezuela isn't a nation of "beggars", despite the economy spiralling into its worst-ever crisis and three million Venezuelans fleeing overseas over the past five years.
Russia, Belarus, Bolivia, Iran, China, Cuba, Nicaragua, El Salvador, Syria and Turkey stood up for Maduro's support. "Venezuela is not suffering the humanitarian crisis made up by Washington over the last four years to justify intervening in our country".
Supporters of Venezuela's President Nicolas Maduro wait in line to attend a gathering in support of the government in Caracas, Venezuela, February 7, 2019.
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"This is a macabre game: we squeeze them by the neck and make them ask for crumbs".
Opposition leader Jose Manuel Olivares, who is in Cucuta helping coordinate the aid mission, said the idea floated by Toledo to use a mass mobilization of people to get the aid across the border is one of the strategies being considered.
President Maduro has insisted that there is no humanitarian crisis in Venezuela and dismissed efforts to deliver aid as a "cheap show".
"If they dare to continue blocking the way, all these volunteers will go open a humanitarian channel", he said.
The Venezuelan president demanded that the U.S. stop its aggression against Venezuela, including both attempts to "suffocate our economy" and "the serious and unsafe threats of military intervention".
The opposition considers the presidency of Maduro, who has been the head of state since 2013, to be illegitimate after he won "fraudulent" election last May without any meaningful competition.
He claims his legitimacy from the constitution, but Maduro - labeled a dictator by the West and his Latin American neighbors - insists his re-election previous year was constitutional.
A Venezuelan Supreme Court justice says the constitution does not include language for forming a transitional government as opposition lawmaker Juan Guaido claims.
Maduro has criticized Trump for threatening the use of military force in his country and said Venezuelans would resist USA aggression.
Turning his ire on the Contact Group, Maduro fumed: "You don't listen to the truth in Venezuela".