Maduro's comments came Monday night following a Saturday meeting in Haiti that included Venezuela's National Assembly head Diosdado Cabello, Foreign Minister Delcy Rodriguez, and senior US State Department official Tom Shannon. Haitian President Michel Martelly mediated.
A State Department spokesperson said the bilateral talks were "positive and productive."
Relations between the two countries have rarely run smooth, but they deteriorated rapidly earlier this year after Venezuela imposed a visa requirement for US tourists and ordered the US to slash its embassy staff in Caracas.
Maduro has often accused the US of plotting to overthrow his socialist government, and but has recently backed off of more flamboyant rhetoric, such as leading weekly chants of "Gringo, go home."
During a national television address Monday, he said the two countries were now working "to normalize diplomatic relations on the basis of respect," with Cabello, the country's second most powerful official, heading up the effort from Caracas.
The countries have not exchanged ambassadors since 2010. The US nevertheless maintains deep economic ties with Venezuela, particularly in its energy sector.
Cabello has been lashing out at reports that U.S. prosecutors are investigating him for ties to cocaine trafficking and money laundering.
He has emphatically denied that he heads a drug cartel composed of senior government and military officials, and has promised to sue the local and international outlets that have published reports related to the investigation.
Shannon and other US diplomats have been making trips to Caracas since April for low-profile meetings with top Venezuelan officials.
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