Maduro was inaugurated for his second term earlier this month, after elections a year ago that were widely condemned by the global community.
"As you make your voices heard tomorrow, on behalf of the American people, we say to all the good people of Venezuela: estamos con ustedes", Pence said, following up with the translation in English.
'You asked to take to the streets to defend the constitution, well here we are, ' he said.
U.S. President Donald Trump formally recognised Guaido shortly after his announcement and praised his plan to hold elections.
The protests have been called to coincide with a historic date for Venezuelans - the anniversary of the 1958 coup that overthrew military dictator Marcos Perez Jimenez.
A second lawmaker, Franz Klinzevich, said Moscow could wind up its military cooperation with Venezuela if Maduro was ousted.
"The uprising triggered protests in the same neighborhood, which were dispersed with tear gas as residents set fire to a street barricade of trash and chanted demands that President Nicolas Maduro leave power", adds the article.
"You wanted us to light the fuse, so we did".
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Foreign ministers of five European countries say they want the European Union to take an active role in global mediation they deem necessary in Venezuela, where the opposition is readying for a new round of anti-government protests on Wednesday. The smell of tear gas lingered in the air.
Maduro was sworn in last week after winning re-election last May.
The government said the officers took two vehicles from a police station in the western Macarao district before driving across the city to a barracks in the eastern Petare slum, where they stole an arms cache and kidnapped four officials.
Maduro already declared the National Assembly illegitimate in 2017, and created a new legislature - the Constituent National Assembly - to replace it, where all seats are now held by pro-Maduro parties.
National Assembly president Juan Guaido, who has engaged Maduro in a power struggle since being elected to lead the legislature earlier this month, spoke out in support of the mutinous soldiers.
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"Our military knows that the command chain is broken by the usurpation of the presidency", Guaido said in a message on Twitter in which he reiterated a promise to support all members of the armed forces working to restore Venezuela's democratic order. He has also been playing commander in chief, appearing last week at a military command meeting wearing camouflage fatigues and receiving the blessing of the defense minister, Gen. Vladimir Padrino Lopez, who said his troops were prepared to die for Maduro.
Cabello, Venezuela's powerful socialist party leader, said the opposition demonstration expected Wednesday doesn't worry him, because the government will flood the streets with its own loyal supporters.
The United States, European Union, Organization of American States and several Latin American countries have not recognized the legitimacy of Maduro's second term, while China, Russia and Mexico have.