Maduro also claimed that President Donald Trump had "stimulated the fascist tendencies, neofascists, neo-Nazis within the United States" and the "extremists" in the United States manufactured this crisis as a pretense to invade Venezuela.
Maduro is expected to lead a march of his own in Caracas, protesting what he has called "imperialist intervention" by the United States and other foreign governments.
Israel is among US -aligned powers that rallied to Guaido after he declared himself Venezuela's leader last month in a power struggle with socialist President Nicolas Maduro, under whom the country has sunk into poverty.
"It's sure that the humanitarian aid will enter Venezuela because the usurper will have no choice but to leave Venezuela", said Guaido, referring to Maduro, whom he deems illegitimate over his reelection previous year in a poll widely viewed as fraudulent.
In an interview with the BBC published on Tuesday, the president vowed not to allow the entry of aid. "There are nearly two million at health risk", said Guaido, recognised as Venezuela's interim leader by 50 countries. The Venezuelan opposition reportedly hopes to continue contacts with China in order to discuss cooperation, including China's investment into Venezuelan oil industry.
Maduro has denounced the aid as a US-orchestrated show to overthrow his socialist government and said it will not be let into the country.
"The Ku Klux Klan governing the White House today wants to take possession of Venezuela", he said.
Breaking the unity of other major European countries, Italy's coalition government is divided over Venezuela. "In the west, Venezuela's situation is distorted to justify any sort of intervention", he said, according to Reuters.
Maduro denies there is a humanitarian crisis and says Venezuelans are not beggars.
North and South Korea to submit joint bid for 2032 Olympics
Most US troops were withdrawn in 1949 but they returned the next year to fight alongside South Korea in the 1950-53 Korean war. Washington's top negotiator, Betts, also met with South Korea's Foreign Minister, Kang Kyung-wha, before signing the agreement.
Guaido has organized a highly-publicized campaign to bring global aid to Venezuela.
The US has presented a draft resolution to the UN Security Council calling for worldwide aid deliveries and new presidential elections.
"Humanitarian aid needs to be independent of political, military, or other objectives", United Nations spokesperson Stéphane Dujarric reportedly told press in NY.
"They have to let the aid in because people are dying from lack of medicine", said 72-year-old Armida Quintana, who stood on a plastic stool to see above crowds of thousands, many wearing Venezuelan flags as capes.
As the politicians made gestures soldiers from the Venezuelan Army held positions on the Tienditas Bridge border crossing.
On Tuesday, the United Kingdom said it too would send emergency aid packages of medicine and clean water to Venezuelans.
"And I hope that global law is respected. United Kingdom aid will provide life-saving treatment to malnourished children, immunizations against deadly diseases and access to clean water and sanitation".
"There is no one with legitimate authority to act in the name of the Venezuelan Central Bank", Guaido wrote.
Later on Tuesday, Guaido shared a selfie taken at anti-government protests on his Twitter account.
"It is very important to us", he continued.