Trump declined to give more details about the possibility of USA forces leading an operation in Venezuela.
If that wasn't enough, Maduro loyalists (a number of whom have recently been sanctioned by the Trump administration) have formed a new legislative body within the government that has taken for itself the power to rewrite the constitution.
Tensions between the USA and Venezuela ratcheted up on Friday with threats from the White House of possible military action, even as lawmakers in President Donald Trump's Republican Party urged him not to sanction the Opec member.
"Our people seek harmony, integration and here we have a declaration of total unconditional support to Venezuela's democracy to its democratically-elected president and to the people who have been valiantly defending their rights and sovereignty", he said. He added that it's "certainly something that we could pursue".
"If he's so interested in Venezuela, here I am", Maduro told the 545-member Assembly during a lengthy address.
The assault highlighted the growing volatility in the oil-rich but economically-ailing country after four months of sustained anti-government protests and unrest in which more than 120 people have been killed.
"The United States condemns the actions of the Maduro dictatorship".
The attack dramatically ratcheted up tensions in Venezuela's long-running crisis, raising the prospect it could spill into some form of armed conflict.
The timing of Trump's remarks could not be worse, coming on the eve of a four-nation Latin America trip by Vice President Mike Pence meant to showcase how Washington and regional partners can work together to promote democracy in the hemisphere. On Friday morning, Trump said "military solutions are now in place" should "North Korea act unwisely".
Venezuelan Foreign Minister Jorge Arreaza on Saturday said Trump's comments threatened peace and stability in his country.
"The vice president's trip will highlight the divide between the past and present of Latin America", said Jarrod Agen, a Pence spokesman, in a statement sent before Trump's Thursday comments.
The US government has sanctioned more than 20 Venezuelan government officials in the last few weeks.
Arreaza closed by reiterating Maduro's interest to have a conversation with Trump.
The White House later said that Mr Maduro had requested a phone call with the American president.
As to USA military action against Venezuela, the Pentagon said it had not received any such orders from the White House. Critics say the assembly is a bald maneuver by Maduro to cling to power as his popularity slumps under the weight of the country's economic crisis.