Bolton said among the topics was logistics for providing humanitarian assistance to Venezuela, which is suffering from hyperinflation and severe food and medicine shortages that the United Nations says have driven more than 2 million people to flee the country the past two years.
Pressure is building on Maduro, a socialist, to resign amid an economic crisis marked by widespread shortages and hyperinflation, with the United States and a growing number of other nations recognizing opposition leader Juan Guaido as Venezuela's legitimate president.
On Saturday, an air force general defected to the opposition and reportedly fled to neighbouring Colombia, and posted a video on YouTube declaring that his country's transition to democracy was "imminent".
The United States could attempt to seek the approval of the United Nations Security Council to deliver aid without Maduro's cooperation, but Russian Federation could block such a move.
Guterres said he was following the crisis in Venezuela "with a lot of concern", adding that he had discussed the various initiatives put forward with the countries involved.
In a declaration, the group urged the Venezuelan military to support Guaidó. "We have no doubt that the imperialism governs the Venezuelan right wing". "I would like to reaffirm ... our actions and our co-operation with the Lima Group, along with Canada, and all the countries".
At the Group's meeting Monday in Ottawa, Canada, which is a member, pledged $53 million in humanitarian aid to Venezuela. Mr. Trudeau said the bulk of the funding will go to "trusted" organizations on the ground in Venezuela and neighbouring countries to help support them as they handle the influx of refugees.
Guaido branded Maduro illegitimate over his reelection in May, which the opposition boycotted after several of its leaders were either jailed, barred or forced into exile.
Canada and its Latin American allies in the Lima Group, along with the United States, have been pushing for Maduro's departure. On Monday European countries came on board, with Spain, Germany, France, Britain, Sweden, Denmark, Austria, the Netherlands and Lithuania calling for free and fair elections as soon as possible. It is unclear how the supplies will get into Venezuela without Maduro's blessing and cooperation of the Venezuelan military, which has remained loyal to his government and is stationed on the Venezuelan side of the border.
In a resolution adopted by 439 votes in favor, against 104 against and 88 abstentions, the European Parliament expressed its full support for the National Assembly as the only legitimate democratic body of Venezuela and recognized Juan Guaidó as legitimate interim President in line with the Venezuelan constitution, the Bulgarian Foreign Ministry said.