(CNN) Venezuela's self-declared interim president, Juan Guaido, returned to the country on Monday, risking arrest for violating a travel ban in his bid to oust embattled Venezuelan President Nicolas Maduro.

Guaido was met by crowds of chanting supporters and several European diplomats after he touched down at Caracas airport on Monday, where he declared, "We are here in Venezuela. We are stronger than ever."

"We are going to achieve the end of the usurpation very soon in Venezuela," he said. Guaido added that despite the risks, "they won't be stopped."

He climbed on top of a car, waving the Venezuelan flag and shouting "Yes we can!" before heading to a plaza in the capital, where he was welcomed by huge crowds.

According to a senior aide, Guaido returned to the country on a commercial airline, Copa Airlines, from Panama City.

A Guaido supporter in Caracas on Monday.

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