'Apply additional pressure'
Pompeo also mentioned Cuba in his remarks, saying there is growing demand for change there as young people demand opportunities.
Venezuelan Foreign Minister Jorge Arreaza responded to Pompeo's call, accusing the US of attempting a coup d'état and blaming the country's profound humanitarian crisis on Washington.
"The United States has been perpetrating a coup d'état against us for 20 years," Arreaza said. "I won't go on, but economic sanctions have been posed, not just individually rather also on our economy. Now it is difficult to buy medicines, to buy foodstuffs. This is the fault of the United States" and other countries that follow its lead, he said.