The US and Venezuela have agreed to re-establish diplomatic and consular relations.
The agency said in a statement that both sides will work together to promote stability, support economic recovery, and advance political reconciliation.
Their diplomatic relations have been improving since the US military captured Venezuelan President Nicolas Maduro in a surprise raid in January, but the announcement of formal bilateral relations is a highly symbolic step.
President Donald Trump ordered troops to capture Maduro and his wife, and have them appear in a Manhattan court to face arms and drug offenses, which they deny.
The US Embassy in Caracas, which was closed in 2019, has already reopened, and Washington has appointed a new diplomat to Venezuela.
The Venezuelan government said on Thursday that it was ready to pursue "a new stage of constructive dialogue based on mutual respect."
It said that this relationship should result in "the social and economic well-being of the Venezuelan people."
However, unlike the US State Department, the Caracas statement made no mention of any changes or future elections.
The US has accused Maduro – who is due to stand trial in the US this month – and other members of his government of leading a criminal organization involved in activities such as illegal mining and drug trafficking.
Sources said that more diplomatic staff from the US Embassy in Bogota, Colombia, are expected to be transferred to Caracas soon. This move will make it much easier for officials to conduct face-to-face discussions and provide consular services.
The US State Department stated that its work was focused on helping the Venezuelan people move through a "phased process that creates the conditions for a peaceful transition to a democratically elected government."
After a visit to Venezuela, US Interior Secretary Doug Burgum told reporters on the runway in Caracas on Thursday while returning to the US that intervening in Venezuela before Iran was a "brilliant strategic move."
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The US and Israel launched military action against Iran on February 28. Iran's Supreme Leader, Ayatollah Ali Khamenei, was killed during the first wave of attacks.
Burgum, who leads President Trump's National Energy Dominance Council, said on Thursday that the intervention would help ensure that "oil will come to America."
Since the US military invasion of Venezuela and the capture of Maduro, the US has signed new oil deals with Venezuela.
Washington has allowed the country to sell banned oil under US supervision, and Venezuela has changed its law to allow more foreign investment in the oil sector.
On Wednesday, Venezuela's interim President Delcy Rodriguez and Burgum said the two countries would work together to develop mining in the country.
In addition to having the world's largest proven oil reserves, Venezuela is also rich in gold, diamonds, essential minerals, and rare earth minerals – some of which are used in mobile phones.
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