Another US aircraft is due in Curacao from Miami on Tuesday, and a collection center for Brazilian aid will open Monday on the border, Mr Guaido's team said.
"The narcoterrorist tyranny of Nicolas Maduro continues to block critical humanitarian relief for those who continue to suffer under his regime", the Florida Republican said, adding that the U.S. stands by the Venezuelan people in their fight for "democracy and freedom".
But it is unclear whether the military will allow aid to cross the border. Venezuelans also have staged large protests to pressure Maduro to leave.
The Florida Republican on Sunday visited the border town of Cucuta, Colombia, where US aid packages are being stockpiled for distribution by congressional leader Juan Guaidó, who is recognized by the USA and dozens of other countries as Venezuela's legitimate president.
Venezuela's self-proclaimed interim president Juan Guiado, shown greeting a crowd on Saturday, is increasingly concerned with getting humanitarian aid into his country, including aid from the U.S.
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It's also a reflection of the nation's fractious state that a stone was thrown at the prestigious train while on its speed trials. The train, which has been designed and built in India , is running between New Delhi and Varanasi via Kanpur and Allahabad.
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"Venezuela sadly has not become the utopia that the current administration of Venezuela or the past administration were hoping for, and that has resulted in a lot of people literally dying from lack of medical help", Branson said in a telephone interview from his home in the British Virgin Islands.
Speaking in Spanish, Rubio warned that blocking the entry of US food would amount to a "crime against humanity" and those responsible would spend "the rest of their lives hiding from justice".
Military officials in Roraima said they had yet to receive orders, although a collection center could be set up quickly, with some businesses having already provided warehouses to that effect.
On Monday, Trump said Maduro and the "small handful at the top of the Maduro regime" have stolen from Venezuela. Trump also highlighted socialist governments in Cuba and Nicaragua, which also have large expatriate communities in the Miami area.
Earlier the White House said Trump would use the speech to warn of 'the dangers of socialism'.
He later reiterated a message he delivered in his State of the Union address, saying the United States will "never be a socialist country".