Venezuelan opposition leader Juan Guaido, who many nations have recognised as the country's rightful interim ruler, talks to supporters in Caracas, Venezuela April 30, 2019. REUTERS/Carlos Garcia Rawlins

Early on Tuesday, several dozen armed troops accompanying Guaido clashed with soldiers supporting Maduro at a rally in Caracas, and large anti-government protests in the streets turned violent. But by Tuesday afternoon an uneasy peace had returned and there was no indication that the opposition planned to take power through military force.

U.S. Secretary of State Mike Pompeo told CNN that “as we understand it” Maduro had been ready to depart for socialist ally Cuba, but had been persuaded to stay by Russia, which has also been a steadfast supporter.

Maduro did not make a formal speech on Tuesday but said on Twitter: “Nerves of steel! I call for maximum popular mobilization to assure the victory of peace. We will win!”

He said he had spoken with military leaders and that they had shown him “their total loyalty.”

Other U.S. officials said three top Maduro loyalists - Defense Minister Vladimir Padrino, Supreme Court chief judge Maikel Moreno and presidential guard commander Ivan Rafael Hernandez Dala - had been in talks with the opposition and were ready to support a peaceful transition of power.

“They negotiated for a long time on the means of restoring democracy but it seems that today they are not going forward,” said U.S. envoy for Venezuela Elliott Abrams. U.S. national security adviser John Bolton said: “All agreed that Maduro had to go.” Neither provided evidence.

Venezuela’s U.N. Ambassador Samuel Moncada rejected Bolton’s remarks as “propaganda.”

Guaido, in Twitter posts, wrote that he had begun the “final phase” of his campaign to topple Maduro, and called on Venezuelans and the armed forces to back him ahead of May Day mass street protests planned for Wednesday.

“The moment is now!” he said. “The future is ours: the people and Armed Forces united.”

Guaido, the leader of the National Assembly, invoked the constitution to assume an interim presidency in January, arguing that Maduro’s re-election in 2018 was illegitimate. But Maduro has held on, despite economic chaos, most Western countries backing Guaido, increased U.S. sanctions, and huge protests.