Videos shared online on Monday showed armoured security vehicles in the streets near the Miraflores presidential palace, while gunshots could be heard.
“We invite the U.S. government to collaborate with us on an agenda of cooperation oriented towards shared development within the framework of international law,” said Ms Rodriguez.
Mr Rubio’s statement contrasted Mr Trump’s earlier claim that the U.S. would at least temporarily “run” the oil-rich nation.
Mr Trump said Secretary of State Marco Rubio and defence chief Hegseth will work as a “team” with the Venezuelan people to “run” the Latin nation.
The Venezuela defense minister described the U.S. airstrikes as an invasion.
