Maduro has described the protests as part of a US -led coup attempt and called on his supporters to organize their own march on Saturday in defense of his Bolivarian Revolution.
If he does, it would be the first time he has appeared in public since August 4, when he claimed to have been the target of an exploding drone at a military parade in Caracas.
Venezuela's President Nicolas Maduro holds up a small copy of the constitution as he speaks during his swearing-in ceremony at the Supreme Court in Caracas.
Guaido said there would be something for everyone in society to do as Venezuela moves forward, including the military.
Meanwhile, a prominent opposition lawmaker called on a group of European Union and Latin American countries to support Maduro's ouster - without negotiations.
Deprived nearly entirely of coverage on mainstream media, Guaido has deftly used the social networks to woo support, but even that avenue is increasingly being cut off, and there is an explicit ban against talking about him.
"It's not just the United States doing this", Guaido said.
The demonstrations marked the second week of heightened tensions in Venezuela and came before a Sunday deadline set by major European countries for Maduro to call snap elections.
Venezuela's opposition leader called on more members of the military to abandon the country's socialist government following Saturday's defection of a top general, as President Nicolas Maduro proposed holding early National Assembly elections that could potentially oust his challenger.
Venezuelans fear fuel shortages after USA oil sanctions
Despite an offer of amnesty to those who disavow the socialist leader, the military high command remains loyal to Maduro. As a politician who heads the National Assembly, Mr Guaido has immunity from prosecution unless ordered by a top court.
Maduro has described the latest protests against his rule as part of a USA -led coup attempt and called on his supporters to organize their own march in defense of his Bolivarian Revolution.
"We are aware of the initiative taken by Mexico and Uruguay", said Dujarric.
Towards the end of his speech, Guaido said that agents of Special Action Forces (FAES) were at his home. However, he still has no control over the government's institutions or daily governance.
He told them their interests would be served better if they switched sides and begin backing him.
The government called for a mass rally Thursday to denounce US sanctions against Venezuela's state-owned oil company that could starve Maduro's government of billions in export revenue but turnout was no more than a few hundred people. The Foreign Secretary and Mr Guaido also discussed the humanitarian crisis in Venezuela.
U.S. Vice President Mike Pence met Friday with exiled Venezuelans in the southeastern U.S. city of Miami.
The defiant socialist government of President Nicolas Maduro has called on its own loyalists to flood the streets waving flags to celebrate the 20th anniversary of the Bolivarian revolution launched by the late Hugo Chavez.
But in a Friday tweet, Corbyn said: "The future of Venezuela is a matter for Venezuelans".
Wigell noted the unconfirmed social media reports that the earlier flight on the Nordwind chartered aircraft brought Russian mercenaries to defend the Maduro regime.
Zeleyka Muskus, a 53-year-old tax collector from Caracas, blamed the opposition for the country's current economic woes, saying that they have staged years of protests that have gotten people injured and killed.