Senior US officials said recent sanctions on seven people linked to the Venezuelan government were not designed to inflame tensions, but to address human rights abuses.
Maduro and his supporters attacked US legal wording that declared Venezuela a threat to national security, and even US allies criticized the timing of the sanctions, weeks before the upcoming Summit of the Americas.
"The wording, which got a lot of attention is completely pro-forma," said Ben Rhodes, a senior advisor to Obama.
Rhodes said the sanctions were prompted by Congress and were "not of a scale that was in any way aimed at targeting the Venezuelan government broadly or bringing about some type of dramatic change in terms of the government of Venezuela."
More From This Section
While all eyes at the summit will be on a possible first substantive meeting between US and Cuban leaders in more than half a century, thawing ties between the Cold War enemies risk being overshadowed by the spat with Venezuela.
"We have an interest in the success of Venezuela... Its prosperity, its security, its stability, its democracy. We are Venezuela's largest trading partner.