"I wouldn't say it went well or badly. It was a phone call," the US president tells reporters aboard Air Force One.
The information comes amid escalating tensions between the countries after the United States carried out a series of deadly attacks off the coast of Venezuela this fall on what it claimed were drug-smuggling boats. Washington has blamed Maduro for part of the smuggling.
Several US warships are also in the waters of the Caribbean Sea near Venezuela.
Maduro has responded by putting the country on war alert.
