Venezuelan President Nicolas Maduro speaks at a constitutional National Assembly session in Caracas on January 14, 2020. (Photo: AFP / VNA)

Maduro said he was ready to hold talks with the US to negotiate an end to sanctions imposed by President Donald Trump. He indicated that, if Trump were to lift sanctions, US oil companies could benefit immensely from Venezuela's oil.

Maduro said that a relationship of respect and dialogue brings a win-win situation and a confrontational relationship brings a lose-lose situation.  

He also expressed willingness to talk with opposition leader Guaido, but appeared to dismiss his opponent's main demand that he step down.