"The narcoterrorist tyranny of Nicolas Maduro continues to block critical humanitarian relief for those who continue to suffer under his regime", the Florida Republican said, adding that the United States stands by the Venezuelan people in their fight for "democracy and freedom".
The BBC's worldwide correspondent Orla Guerin reports from Yare where the lack of food and medicines are claiming lives. ICRS was echoed by United Nations spokesman Stephen Dujarric who said earlier this month that humanitarian action related to Venezuela should be independent of political or military goals.
Increasingly internationally isolated President Nicolas Maduro, who denies there is a humanitarian crisis in Venezuela, says Western relief efforts coordinated by the opposition are part of a US -orchestrated coup to overthrow him.
The Republican Senator also warned Maduro against harming USA personnel working in the country and said the United States would also respond if aide workers were targeted.
It comes amid a deepening crisis over President Nicolas Maduro's refusal to let desperately needed humanitarian aid into Venezuela.
Tensions have further escalated ahead of 23 February, when U.S. "humanitarian aid", which is now stockpiled in Columbia, is expected to reach Venezuela.
South Florida is home to more than 100,000 Venezuelans and Venezuelan-Americans, the largest concentration in the country.
Guaido is the president of the National Assembly, a constitutional body that operates in parallel to the Constituent Assembly, a body Maduro established in 2017 for the goal of rewriting the Venezuelan Constitution.
Elliott Abrams, the USA envoy to Venezuela, told Congress this month "the current political and economic environment is unsustainable and [Maduro] will not be able to weather it much longer".
The MEPs said they had traveled to Venezuela on an official invitation from the National Assembly, which is "an organ recognized internationally and recognized by Maduro himself".
On Monday, Trump said Maduro and the "small handful at the top of the Maduro regime" have stolen from Venezuela.
There is a high population of Venezuelans living in areas like Doral and Weston.
"The twilight hour of socialism has arrived in our hemisphere and frankly in many, many places around the world", Trump said to an audience at Florida International University.
Branson said it is not funded by any government and that all artists are performing for free, hoping to raise donations from viewers watching it on a livestream over the internet.