IMO: demand moderation on the US's and its allies' part. Support investigative journalism into US's actions, demand transparency.

A lot of people are going to fight like hell to ensure that US aid is perceived as illegitimate. Why? Because US aid delegitimizes Maduro. Maduro's made his stand on there being nothing wrong with Venezuela other than other countries' meddling (by US leadership). If that aid comes through, that means that "meddling" is filling in the failures of the Venezuelan government.

We need to defy the US's bad history and do the right thing going forward. We need to push against those who won't allow the US any legitimacy and we need to ensure accountability on the US's part to ensure the US's actions remain legitimate.

The US doesn't need to send guns to Venezuela to ensure Maduro loses. The US just doing simply the right thing in this case will, alone, be Maduro's unraveling. But if the US tries pushing through guns, or taking armed conflict, then Maduro's broken clock ticks the right time and he wins.