Addressing a rally here, Maduro said that Carlos Vecchio, who is recognised as the ambassador by Washington, to immediately contact the USA military for possible cooperation, Voice of America reported.
Trump has complained over the past week that Bolton and other aides underestimated Maduro, who he called a "tough cookie", according to three senior administration officials.
The latest regime actions ratcheted up tensions ahead of a national demonstration Guaido called for Saturday to reject measures taken by the Supreme Court against opposition lawmakers.
The government said that the U.S.is "promoting, organizing, and financing" a series of actions designed "to produce a change of government by force", state-backed Telesur TV reported Saturday.
"About the possibility or not of military cooperation on Venezuelan soil.and whether it will be required or not, some would say, and I would say, that we crossed the red line some time ago", he later told a press conference, adding that "the emergency" in the country "is obvious".
The Trump administration threatened to sanction members of Venezuela's security forces after the nation's embattled president, Nicolas Maduro, began cracking down on allies of opposition leader Juan Guaido.
Venezuela's information ministry, Argentina's foreign ministry and its embassy in Caracas did not immediately respond to requests for comment.
As part of a pressure campaign to push Maduro out of power, US Vice President Mike Pence has offered incentives to the Venezuelan military personnel to entice them to defect and join the opposition.
Army Col. Amanda Azubuike, a South Command spokeswoman, said a U.S. Coast Guard vessel was conducting a drug interdiction mission in the global waters of the Caribbean Sea. Defense Minister Vladimir Padrino separately said on Saturday a U.S. coast guard ship had entered Venezuelan territorial waters, which he said "we will not accept".
Edgar Zambrano, deputy speaker of the opposition-majority National Assembly, is being held in preventive detention for "the flagrant commission of the crimes of treason, conspiracy and civil rebellion", the Supreme Court said in a statement announcing the verdict of a lower court.
However, a U.S. Navy admiral has said that he "stands ready" to help Guaido. In recent months, Guaido has gathered thousands of protesters. "We have no option to stay at home and wait, but we must continue to look for our rights on the streets", Guaido said.