Guaido told supporters during a rally in Caracas on Saturday that he's sending his envoy in Washington, Carlos Vecchio, to meet immediately with Florida-based Southern Command, which oversees USA military activity in Latin America and the Caribbean, "to be able to establish a direct and far-reaching relationship in terms of cooperation".
On Tuesday, Venezuela's pro-Maduro Constituent Assembly ruled to strip Mr Zambrano and six other opposition politicians of their parliamentary immunity to allow their future prosecution.
Venezuelan opposition leader Juan Guaido on Saturday urged his supporters once again to protest nationwide against President Nicolas Maduro, who has slowly ratcheted up the pressure on the lawmaker since a failed military uprising.
"At all times I have spoken of cooperation, because intervention in Venezuela already exists", he said in denouncing the supposed participation of Cubans in the Bolivarian National Armed Forces (FANB) and the presence in the country of the Colombian National Liberation Army (ELN) guerrilla group.
The Southern Command is part of the USA military responsible for operations and security in Central and South America, along with the Caribbean.
Venezuela's Information Ministry did not immediately respond to a request for comment. Venezuela Crisis: Over 3 Lakh Children Forced to Live in Neighbouring Countries, Says UN.
Guaido is the president of the national assembly where the opposition is in the majority.
As opposition leader Juan Guaidó and his USA ally puzzle over their failures to wrest control of the government from Nicolas Maduro, the embattled president is moving to assert his strength and enforce a new normal across Venezuela.
A Venezuelan opposition lawmaker sought refuge at Argentina's Embassy in Caracas on Thursday, according to an Argentine foreign ministry source and a Reuters witness, a day after the arrest of a top figure in the opposition-controlled legislature.
Army Col. Amanda Azubuike, a South Command spokeswoman, said a U.S. Coast Guard vessel was conducting a drug interdiction mission in the global waters of the Caribbean Sea.
As he spoke with La Stampa, Guaido argued a United States military intervention in Venezuela was an option, claiming that after a failed coup attempt, the country's opposition would have "more opportunities because more people are joining Operation Liberty".
The U.S. Treasury Department said on Friday that it had imposed sanctions on two shipping companies that operate in the oil sector of the Venezuelan economy, adding that individuals operating in Venezuelan defense and security sector might be subject to sanctions.
In January, Guaido invoked the Opec nation's constitution to assume an interim presidency, arguing President Nicolás Maduro's re-election in 2018 was illegitimate. Zambrano, who was arrested earlier in the week, and nine other opposition leaders are under investigation in connection with a failed military insurrection. "We have no option to stay at home and wait, but we must continue to look for our rights on the streets", Guaido said.