US officials have said recently they are considering military options in Venezuela, as the USA intensifies diplomatic and economic pressure on the oil-rich country.
Lavrov said: "We reaffirmed solidarity with the friendly people of Venezuela and support for the legitimate president elected by the Venezuelan people on May 20, 2018".
US Vice President Mike Pence has threatened the Venezuelan Supreme Court with sanctions for doing their job, accusing the judges of acting as "a political tool for a regime that usurps democracy, indicts political prisoners and promotes authoritarianism".
"They sat back in the barracks and they're there, but they don't want to be identified as the institutional source of repression", the official said.
In response to the Trump administration's stance, U.S. Representative Darren Soto, a Democrat, is expressing support for "a wide range of actions, including incentives to encourage the Venezuelan military to rise up against the tyrannical Maduro regime".
The U.S. on Tuesday removed sanctions on a former high-ranking Venezuelan intelligence official who defected from the government last week.
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Pence added he hoped the decision would embolden other Venezuelans to take similar steps, as the Trump administration continues to call for Maduro to step down and allow Guaido to properly lead the country.
The US Treasury sanctioned the court's president, Maikel Moreno, and the seven principal members of its constitutional chamber in 2017.
Pence, speaking at the State Department, said he hoped that Figuera's defection would inspire other senior Venezuelans to break ranks with Maduro. It is now preparing sanctions for the 25 remaining members of the court, a senior United States administration official said on Monday.
Venezuela's Supreme Court last Thursday ordered the re-arrest of key opposition figure Leopoldo Lopez, who made a sensational appearance alongside Mr Guaido outside the air base claiming to have been released from house arrest by soldiers.
The court also would be responsible for signing off on any warrant for an arrest of Guaido - a step that United States officials have warned would result in severe consequences.
"I believe that Juan Guaido would already be acting as president of all of Venezuela if the Cubans have not been present", Thornberry said, adding that the USA should avoid "direct military engagement" in Venezuela, but also make sure not to rule it out if necessary.