Venezuelan President Nicolás Maduro has called for military unity in an appearance with soldiers, two days after security forces failed to respond to opposition leader Juan Guaidó's call for an uprising.

Flanked by commanders, Maduro said on national television Thursday that the military must be prepared to combat "traitors" and the opposition had sought to provoke bloodshed in Caracas since Guaidó's failed bid to take power.

Guaidó, backed by a small contingent of security forces, called for the military to turn against Maduro on Tuesday. But police dispersed the crowds in clashes that raged for hours.

Thousands of Venezuelans heeded the opposition's call to fill streets around the nation a day later, but the streets of Caracas were calm on Thursday.