President Maduro made the proposal while he was addressing a crowd of supporters on the anniversary of his re-election in 2018.
Mr Guaidó also expressed his opposition to the proposal on Twitter. Referring to the opposition's boycott of the presidential election in 2018 which Mr Maduro went on to win, he wrote: "On 20 May 2018 we showed that we don't take part in a farce. "A new farce would only worsen the crisis we're in. Only by putting an end to the usurpation and with a clear referee will there be free elections," he added, reiterating the opposition's demand for President Maduro to step down and for presidential elections to be held.