Venezuela's opposition leader Juan Guaido has promised to return to Caracas over the coming days, despite threats from the government of President Nicolas Maduro.

Speaking alongside Brazil's right-wing President Jair Bolsonaro at a press conference in Brasilia on Thursday, Venezuela's Guaido urged the international community to enforce economic sanctions against Maduro "so that everything is not robbed in Venezuela."

Guaido has met with several Latin American leaders over the past week, in an attempt to shore up diplomatic pressure against Maduro's embattled administration.

The leader of the country's National Assembly said the purpose of his regional tour was to discuss the best course of action to defeat Maduro's regime and to prepare for the country's reconstruction.

When asked whether he was worried about his safety on returning to Venezuela, Guaido told reporters at the press conference in Brasilia: "Of course, it is a risk — even life threatening."