Remember, Democrats also called for Maduro being ousted, just not using physical force. Maduro was charged in 2020 and the Biden Administration never withdrew those charges during his term in office and neither did his administration withdraw the bounty for his arrest. I would say he wasn't aligned with US interests. I would also agree with you that I doubt that the Trump has a plan nor the competency to bring in a Democratic government in VZ. This has a high likelihood of going sideways.
Well team America has a long history of doing that in central and south America. As I said earlier, Maduro found himself no longer aligned with US interests and didn't take the strong hints to course correct.
It was President Theodore Roosevelt who said "Speak softly and carry a big stick; you will go far".