Maduro also said that if the US really wanted to help, it would instead lift the over $10 million in sanctions that have been imposed on Maduro's regime, calling it a robbery of money belonging to the Venezuelan people.
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 USA cabinet officials continue to issue aggressive threats and push for regime change.
Failing public services including water, electricity and transport are among Venezuela's worst problems, while there is also a shortage of doctors and medical supplies in hospitals.
"The package is very nice on the outside: humanitarian aid".
"I say this to the people of the United States of America to warn them of the serious and risky intent that factions in the White House have for invading Venezuela, which would have unforeseeable consequences for my nation and for all of the Americas", Maduro wrote.
"More evidence emerged of this new form of a state coup, in which Washington does not hide behind others' backs but remains on the frontline inciting to betray and giving orders to the subordinate opposition", he said.
Blaming Maduro for bringing the dire social and economic crisis upon the sanctions-strangled Venezuela, Guaido has been taking advantage of the situation to push for regime change and pleading with his worldwide support base to urgently send humanitarian aid.
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.
He has called for another street protest on Tuesday to keep up the pressure on Maduro, who is backed by China, Russia, Turkey and leftist regional allies Cuba and Bolivia.
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"This is a macabre game: we squeeze them by the neck and make them ask for crumbs".
Early Wednesday, a Venezuelan military boat carrying 100 tons (tonnes) of aid landed in Havana to help Cubans recovering from the wrath of a tornado.
Last week Reuters reported that senior United States government officials are in direct talks with the country's military to convince them to back Guaido, who has offered soldiers amnesty to work against the Maduro government.
Guaido is trying to force Maduro from power, aiming to set up a transitional government and hold presidential elections.
Offering a counter-point to Washington's hard-line stance, the European Union and a group of Latin American governments that has kept a moderate line on Venezuela called for dialogue and fresh elections.
The International Contact Group urged "free, transparent and credible presidential elections" in Venezuela "as soon as possible" to find a peaceful solution to the power struggle between Maduro and Guaido. "You're deaf... They've taken extremist positions".
-Question: Would you receive emissaries of the International Contact Group seeking a negotiated solution?
Guaido agrees that no-one will come to Maduro's rescue.