According to South American publication, El Periodico, Gutteres announced his support for the dialogue, while maintaining his neutral stance regarding the situation in the Latin American nation, which was brought about when the United States recognized Juan Guaido, as Venezuela's "self-appointed" interim president.
"From today, we will spare no effort in helping all Venezuelans achieve freedom, prosperity and harmony", said Pedro Sanchez, the Spanish prime minister. "But the preliminary conditions are that both sides ask for it", he told reporters, without citing Guaido by name.
A U.S. official said the aid will be kept at the main Colombian-Venezuelan border crossing at Cucuta with more supplies being prepared in Brazil and in the Caribbean. Norway, not an European Union member, said it also was not recognizing him.
Prepositioning aid in warehouses or in truck convoys at border posts for weeks, or sometimes months, is common while officials negotiate the safe passage of humanitarian supplies to those in need. Canada has already contributed $2.2 million for the humanitarian crisis that's forced some three million Venezuelans from their homes, sending ripples across the region - particularly in neighbouring Brazil and Colombia, which are now faced with a refugee crisis.
Journalists cover the blockade of the border bridge of Tienditas between Colombia and Venezuela, in Cucuta, Colombia.
"Donald Trump's threats violate the United Nations charter, which prohibits the threat of the use of force or the use of force against any country", said Maduro.
Bolton said among the topics was logistics for providing humanitarian assistance to Venezuela, which is suffering from hyperinflation and severe food and medicine shortages that the United Nations says have driven more than 2 million people to flee the country the past two years.
Eurasia said USA oil sanctions are "set to have a broad impact" with the government facing "the prospect of running out of gasoline, which could serve as another social catalyst".
Maria Gomez, a 53-year-old seamstress, arrived from San Cristobal in northern Venezuela to buy her elderly mother the Losartan pills she needs for hypertension.
They have joined the USA in pushing for a change of regime in Venezuela, which is now seeing an acute shortage of medicines and hyperinflation despite being an oil-rich country.
Russia, China, and Iran have put their weight behind Maduro, as has Turkey.
He thanked his European Union supporters "for supporting all Venezuelans in this struggle we undertake to rescue our nation's democracy, freedom and justice".
The United States could attempt to seek the approval of the United Nations Security Council to deliver aid without Maduro's cooperation, but Russian Federation would likely block such a move.
Earlier Tuesday the opposition-dominated National Assembly had warned the armed forces, which make up much of Maduro's power base, not to cross a "red line" by blocking aid. "We are not beggars".
He said the U.S. would protect any senior military official who accepts Mr Guaido's legitimacy. Jon Snow is joined by the Labour MP Chris Williamson, who like Jeremy Corbyn, has supported the Chavez and Maduro governments in Venezuela.