Venezuela's president Nicolas Maduro has urged US President Barack Obama to ignore American factions which, he claims, want to assassinate him, and join a commission to discuss "peace and sovereignty".

Maduro claims that the US is attempting to destabilise his government, and is behind mass protests that have left 28 dead so far.

He has proposed the formation of a high level commission mediated by the Union of South American Nations, and attended by US representatives, to discuss "peace and respect to the sovereignty" of Venezuela.

The speech came after thousands of pro-government supporters marched through the centre of the capital, Caracas, to thank the police and security for controlling the unrest.

At the rally, military leaders gave speeches alongside Maduro, praising the "civic-military partnership'.

Maduro announced that he wanted the head of the Venezuelan national Assembly, Diosdado Cabello, to meet with a high-ranking member of the US administration.

"President Obama: give peace, and respect, a chance and let's set the foundation for a new type of relations between the US, Venezuela and if possible, Latin America and the Caribbean," he told the crowd.

He warned Obama of the consequences of assassination, which he claimed was being plotted by "extremists" in the US.

"It would be the worst mistake in your life to authorise the assassination of President Nicolas Maduro and fill [Venezuela] with violence," he said in the speech, which was broadcast live on state TV and radio. He described himself as a "humble president and bus driver" who, like Obama, also had "African grandparents".

Maduro warned protesters to leave their base in Caracas' Altamira Square, or face eviction by police and security forces.

The opposition has criticised the pro-government protests and vowed to continue until the government has been changed. they claim years of incompetence and corruption has resulted in food shortages, rampant inflation and police brutality.

US Secretary of State John Kerry has accused the Venezuelan government of "waging a terror campaign against its own people". Venezuela's foreign minister Elias Jaua responded on Friday by calling Kerry a "murderer".

The US Congress is considering economic sanctions against Venezuela, which has large oil reserves.

Washington accuses Maduro of attempting to distract people from Venezuela's internal divisions and economic woes with anti-imperialist rhetoric.