"And Juan Guaido and his supporters have tried to peacefully protest", Sanders explained, "they have gathered in large numbers".
Venezuela's Foreign Minister Jorge Arreaza accused Washington of helping Guaido orchestrate the uprising.
National security adviser John Bolton says it is a "very delicate moment" for Venezuela.
The video appeared to have been recorded at dawn in or near La Carlota air force base in Caracas.
The president also announced the appointment of "three special prosecutors" to examine "criminal" actions by the opposition, noting that "we have colonels wounded by bullets and in intensive care", following the violence instigated by dissidents.
Guaido published a video earlier Tuesday alongside a small contingent of uniformed military personnel and armored vehicles in which he called for an uprising to end the "usurpation" of Maduro.
Besides Cuba and Russian Federation, countries such as China and Turkey continue to regard Maduro as Venezuela's president.
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In Caracas, Maduro's supporters rallied, chanting slogans of support while some people were giving out posters of Maduro with the Venezuelan flag behind him. "The Maduro regime, while it exists will still be illegitimate and completely incapable of solving the problems of the Venezuelan people".
Trump's threat against Cuba marked an intensification of a US campaign in recent weeks to pressure Cuba over its role in Venezuela, although some experts and former USA officials say Trump and his aides have overstated Cuban involvement in the Venezuelan crisis.
Germany is one of 54 countries to recognize Guaido's role as interim president and called for new elections, but it has not declared Maduro's presidency invalid.
"That's right", Pompeo said.
Confirming that his government has faced several "modalities" of a coup d'état, Maduro pinned Tuesday's violence on the USA, who the president believes masterminded the failed attempt to overthrow his government.
Maduro, in a late-night televised address, said, "We have been confronting different types of aggression and attempted coups never before seen in our history".
But Bolton gave no evidence that these senior aides had said they would turn against the Chavista president. Russia, Belarus, Bolivia, Iran, China, Cuba, Nicaragua, El Salvador, Syria and Turkey voiced support for Maduro.
The U.S. Federal Aviation Administration (FAA) on Tuesday evening issued an order prohibiting U.S. air operators from flying below 26,000 feet in Venezuela's airspace until further notice, citing "increasing political instability and tensions".