Maduro told thousands gathered outside the presidential palace that Venezuela sought peace “with sovereignty, equality and freedom,” insisting, “We do not want a slave’s peace, nor the peace of colonies! Colony, never! Slaves, never!”
The comments followed reports that US President Donald Trump met his national security team at the White House to review “next steps” on Venezuela.
The Trump administration has increased pressure on Caracas with a military buildup in the region, describing the operation as an anti-drug trafficking effort.
Caracas accuses Washington of using the deployment to push for Maduro’s removal.
The United States has stationed 15,000 troops in the area and deployed the world’s largest aircraft carrier, while designating the Cartel de los Soles—described by US officials as a drug-trafficking organization allegedly led by Maduro—as a “terrorist” group.
US forces have conducted at least 21 strikes on suspected drug boats in the Caribbean and Pacific since September, killing at least 83 people.
Experts say the scale of US military firepower far exceeds what is typically required for counter-narcotics missions.
Meanwhile, Caracas argues Washington aims to secure control of Venezuela’s natural resources, particularly oil.
Maduro accused the United States of orchestrating “psychological terrorism,” saying, “We have endured 22 weeks of aggression that can be described as psychological terrorism.”
He added, “These 22 weeks have put us to the test, and the people of Venezuela have demonstrated their love for the homeland.”
Separately, Trump confirmed on Sunday that he held a brief phone call with Maduro but said it did not go “well or badly.”
Reuters, citing four sources familiar with the matter, reported that Trump offered Maduro safe passage out of Venezuela during the November 21 call.
According to three of the sources, Maduro signaled willingness to leave if he and his family received full legal amnesty, including removal of US sanctions and the end of an International Criminal Court case against him.
Maduro also sought the lifting of sanctions on more than 100 Venezuelan officials accused by Washington of human rights violations, corruption or drug trafficking, Reuters reported.
Trump rejected most of the requests but gave Maduro one week to depart for a destination of his choosing with his family, Reuters said.
Two sources told Reuters that the safe-passage window expired on Friday, prompting Trump to declare on Saturday that Venezuela’s airspace was closed.
There was no immediate official response from either government to the report.
Washington does not recognize Maduro—who has ruled since 2013—as Venezuela’s legitimate president.
Maduro claimed re-election last year in a vote the United States and several Western governments dismissed as fraudulent.
In a related development, Al Jazeera correspondent Teresa Bo, reporting from Cucuta on the Colombia-Venezuela border, said Maduro’s rally appearance followed rumors he had left the country after Trump’s declaration on airspace.
She said people crossing the Simon Bolivar bridge were “extremely concerned about the possibility of a military strike” by the United States.
Meanwhile, Venezuelan forces have been repositioned across the country, including around Caracas, key highways to the airport, and coastal areas, Bo reported.
She said Defense Minister Vladimir Padrino Lopez displayed military equipment including air-defense systems and fighter jets.