If the American ship, USS Jason Dunham, took any action is unclear. The incident is reported to have occurred on Thursday.
The mood between the two countries has been strained since President Donald Trump sent ships to the waters off Venezuela in an effort aimed at drug trafficking.
Earlier in the week, a ship that had set sail from Venezuela was sunk by the American fleet. Eleven people were killed in the attack, which Venezuela calls "extrajudicial murders".
Trump stated that the dead belonged to the drug cartel Tren de Aragua. He also claimed that the criminal group is controlled by Venezuela's President Nicolas Maduro.
The information has not been confirmed by independent sources, but Maduro has claimed that warships from the US have approached Venezuela's coast. He has said that the warships were equipped with "1,200 rockets" aimed at Venezuela.
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