The country has suffered five years of recession marked by shortages of basic necessities as well as failing public services, including water, electricity and transport.
On Tuesday, Guaido claimed to have also secured the backing of Venezuelan soldiers, while the country's leftist government said an attempted coup was under way.
The Central American country indicated that it "holds the regime (of Maduro) responsible for the personal safety and integrity of the representative of the State of Costa Rica" in Venezuela.
Venezuela also warned that it reserves the possibility of applying other reciprocal measures "to compensate this unacceptable aggression against the personnel and premises of the diplomatic mission."
