VENEZUELAN President Nicolas Maduro welcomed opposition forces’ commitment to renouncing violence as he laid out his government’s demands during peace talks on Monday.

A memorandum of understanding was reportedly signed as part of the negotiations in Mexico, and Mr Maduro said that his government remained ready and willing for talks with the United States.

But he warned that this must mean a dramatic shift in Washington’s attitude to the South American nation and a new respect for its national sovereignty.

“They have to give up their hatred and contempt; with that we can put on the table the return of the charge d’affaires,” he said.

The Bolivarian leader said that “the US elites cannot stand us,” but added that their support for hapless opposition figure Juan Guaido had diminished because “he made a fool of them.”

Mr Guaido has been the face of numerous failed coup attempts, backed by Washington in its bid to overthrow Mr Maduro.

He has repeatedly failed to gain the support of the military or the majority of citizens, however, with mass mobilisations in defence of the revolution attracting larger crowds than his opposition rallies.

In one of the most spectacular botched attempts, Venezuelan authorities foiled an attempted insurgency codenamed Operation Gideon, which was led by two former US marines working for the Florida-registered Silvercorps private security firm.

The mission’s contract, which was seen by the Morning Star, aimed for the kidnapping or assassination of Mr Maduro, to be replaced by Mr Guaido. The opposition figure allegedly signed the papers.

US citizens Luke Denman and Aidan Berry are serving jail sentences in Venezuela after admitting their involvement in the plot.

“We have defeated and crushed Guaido politically,” Mr Maduro said at Monday’s press conference. “And if we crush Guaido, we defeat the US political strategy.”

He outlined the Venezuelan government’s three demands, which include recognition of the legitimate authorities of Venezuela and a cessation of violence.

But the most crucial is the lifting of the US’s cruel and coercive sanctions, which have been described by former UN special rapporteur Alfred de Zayas as “crimes against humanity.”

Venezuelan Foreign Minister Jorge Rodriguez said that the memorandum’s signing was the result of six months of talks between the various political groups.

It will now be discussed in a plenary session of Venezuela’s National Assembly, with further peace talks with the opposition set for September 3.