Mr Pompeo told CNN: “Picking exact days is difficult. I’m confident that the Venezuelan people will ensure that Maduro’s days are numbered.”Two people died on Saturday after violent clashes broke out on the Venezuelan border with Brazil between civilians and troops loyal to Maduro. The troops were blocking aid filled US food and medicine using teargas and rubber bullets.
Two trucks were also set ablaze on the Simon Bolivar bridge linking Brazil and Venezuela.
Venezuelan opposition leader and self-declared interim President Juan Guaidó said Mr Maduro should resign.
Mr Guaidó has been recognised as the countries interim leader by more than 50 countries.
He said he would propose to the international community that all options remain open to oust President Maduro.
Mr Guaidó said on Twitter following Saturday’s clash: “Today’s events have forced me to make a decision: To formally propose to the International Community that we must have all options open to secure the freedom of our country, which fights and will keep fighting.”
US Secretary of State Mike Pompeo responded to Saturday’s events on Twitter.
He said in the post: “We denounce Maduro’s refusal to let humanitarian assistance reach Venezuela.
“What kind of a sick tyrant stops food from getting to hungry people?
“The images of burning trucks filled with aid are sickening.”
He also said in another post that the US condemns the attacks of civilians in Venezuela perpetrated by Maduro’s thugs.
He added: “These attacks have resulted in deaths and injuries.
“Our deepest sympathies to the families of those who have died due to these criminal acts. We join their demands for justice.”
Mr Guaidó said he will attend a meeting of Latin American countries in Columbia Monday, even though he is under a travel ban set by Mr Maduro.
US Vice President Mike Pence will be representing Washington at the talks in Bogota.
Mr Pence is planning to announce “concrete steps” and “actions” to address the crisis in the talks on Monday.