Venezuelan leader Nicolas Maduro has called for dialogue with Washington, hours after US President Donald Trump threatened to shoot down Venezuelan military jets if they pose a danger to the country's forces.

Axar.az reports, citing AFP, tensions between the two countries soared in recent days after the Pentagon accused Venezuela of buzzing its ships in the Caribbean following a deadly US strike on an alleged Venezuelan drug boat.

"None of the differences we have and have had can lead to a military conflict," Maduro said in a message broadcast on all of Venezuela's radio and television networks on Friday.

"Venezuela has always been willing to talk, to engage in dialogue, but we demand respect."

As tensions mount, Washington is deploying F-35 warplanes to Puerto Rico as part of Trump's war on drug cartels.

The 10 aircraft will join US warships already present in the southern Caribbean as Trump steps up pressure on Maduro, whom the United States accuses of leading a drug cartel.

Maduro denied that in his evening speech.

"Those intelligence reports they give him [Trump] are not true," he said. "Venezuela today is a country free from coca leaf production, cocaine, and is a country that fights against drug trafficking."