Earlier this week, opposition leaders announced the coordinated shipments of baby formula, medical supplies, and food from the U.S., Colombia, and Venezuelans overseas.
Humanitarian organizations have warned that attempting to force the aid into the country would be unsafe, and a top US official on Thursday said Washington did not plan to do so.
"I'm sure that Moscow as much as Beijing is very aware of the situation in Venezuela, that Maduro doesn't have popular support, the he can't stabilise the economy. all the while holding the biggest oil reserves in the world".
"We're going to do everything that has a lower social cost, that generates governability and stability to deal with the emergency", said Guaido, 35.
Venezuelan migrants gathered there to see if they could receive some aid. "While we work every day to reach the delivery of humanitarian aid, they insist in siphoning the medicines and food from those who urgently need it".
The US, EU and many Latin American countries branded it a fraud as prominent opposition leaders were unable to stand after being exiled, jailed or barred.
This powerful photo of a bridge blocked by a tanker and shipping containers lays bare the heartbreaking reality of Venezuela's humanitarian crisis.
Consultants Eurasia Group said on Thursday that Maduro's traditonal allies Russian Federation and China are "unlikely to lend (him) meaningful support", reinforcing its view that the socialist leader "will be unable to sustain his regime".
It's possible the Venezuelan government fears aid crossing the border could be used as cover for an invasion to depose Maduro.
Maduro confirmed that he is ready to hold early parliamentary elections in the country in order to end the ongoing political crisis.
"Brother, let the aid in".
Toledo on Friday appealed to the armed forces.
The possibility of such an operation loomed on Friday as Isaias Medina, an ex-Venezuelan diplomat who broke with Maduro in 2017, called on the Trump administration to consider the military option.
The US military is prepared to "protect" US personnel and diplomatic facilities in Venezuela if needed, the admiral in charge of American forces in South America says.
Mr Guaido, the country's National Assembly chief, says the May 2018 vote in which Mr Maduro won a second six-year term was a sham.
Right before Maduro's inauguration on January 10, the U.S. Treasury Department imposed sanctions on seven Venezuelan individuals and 23 entities, accusing them of involvement in a corruption scheme.
The two men described a plot headed by opposition figure Julio Borges, a former president of Venezuela's National Assembly living in Bogota.
We call upon the entire like-minded worldwide community, the private sector, and non-governmental organizations to join us in providing life-saving aid to Venezuelans.
Maduro said he was willing to meet with envoys of the so-called International Contact Group, that is backed by the European Union, but said a statement from its first meeting on Thursday was partisan and ideological.
Spain, Italy, Portugal were among European nations signing the declaration with Uruguay, Ecuador and Costa Rica.
U.S. Ambassador to Colombia Kevin Whitaker said the U.S. will get supplies to the border, and Guaido will take it from there. However, it remains unclear if aid will be allowed in by any of these routes.
Opening a session in Ottawa, Prime Minister Justin Trudeau announced a contribution of 53 million Canadian dollars ($40.4 million) in aid to Venezuela.
Hua said China "believes that Venezuela's affairs should be resolved by the Venezuelan people under the framework of its constitution and laws and through peaceful dialogue and political means".
USAID has begun packaging pallets of foodstuffs after Bolton's announcement last week that it would send humanitarian aid. In this regard, Maduro assured that the supposed humanitarian aid promoted by Washington "is a message of humiliation to the Venezuelan people".
He outlined the move as part of a plan to push the military into cooperating with the opposition.