Troops loyal to President Nicolas Maduro violently drove back foreign aid convoys from Venezuela's border on Saturday, killing two protesters and prompting opposition leader Juan Guaido to propose that Washington consider "all options" to oust him.

Trucks laden with U.S. food and medicine returned to warehouses in Colombia after opposition supporters failed to break through lines of troops, who dispersed them with tear gas and rubber rounds, injuring dozens. Witnesses said masked men in civilian clothes also shot at protesters with live bullets.

"Today's events force me to make a decision: to formally propose to the international community that we must have all options open to secure the freedom of our country," Guaido said on Twitter.