Simultaneously, President Donald Trump's administration has been urging Venezuelan officers to defect and support the opposition's claim to power.
The US, Canada, numerous Latin American countries and the major European powers all consider Maduro's May 2018 re-election victory to be tainted by fraud and have recognized Guaido, the speaker of the opposition-controlled National Assembly, as interim president.
Venezuelas oil exports to the United States, the biggest source of profit for the Maduro regime, fall by 40 per cent last week as assets were frozen and tankers filled with crude oil from Venezuela remained stranded on the borders of the Caribbean.
Guaido, the head of opposition-controlled National Assembly, said he would do "everything that is necessary", even though a United States military intervention is "a very controversial subject".
"Inhibiting the entry of this aid could be seen as a crime against humanity".
In an effort to encourage defections from Venezuela's elected President Nicolas Maduro, the Trump administration is reportedly holding secret talks with members of the Venezuelan military as top US cabinet officials continue to issue aggressive threats and push for regime change.
The US is holding direct communications with members of Venezuela's military, urging them to abandon President Nicolas Maduro and is also preparing new sanctions aimed at increasing pressure on him, a senior White House official said.
Guaido says 300,000 people could die if desperately-needed aid isn't brought in.
"We're going to do everything that has a lower social cost, that generates governability and stability to deal with the emergency", the 35-year-old Guaido said.
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So, he lied to Meghan. "And at the same time, because she's a daughter, she has a lot of sympathy for him", the friend said. The source added, "The next morning when the auto got there [to take him to the airport], he wouldn't get in".
Venezuela frequently suffers from power cuts, a lack of running water and public transport, while there is also a shortage of doctors and medical supplies in hospitals.
And he said a first attempt to bring in the aid should be made next week.
On Wednesday, one truck tank and two containers were set up at the Tienditas Bridge crossing between Venezuela and Colombia, where the aid is now stored, blocking access to Venezuela.
Many members of the Venezuelan military remain loyal to Maduro, mostly in fear of being targeted by the embattled leader.
Guaido, who has appealed to the military to back him, said the armed forces "have a dilemma: either they side with the people in need or with the dictatorship".
Russia, Belarus, Bolivia, Iran, China, Cuba, Nicaragua, El Salvador, Syria and Turkey stood up for Maduro's support.
The US continues to try to impose a long-sought regime change in Venezuela, a lot of the pieces have already fallen into place, to the point that the US is already backing a "new" government there, and demanding that the world do the same.
Maduro, after launching a signature-gathering campaign against alleged U.S. interference, has repeatedly stressed his sentiment that the main objective behind Washington's interest in the political outcome in Venezuela is the nation's oil reserves, said to the largest in the world.