Let's be honest here, the "Maduro is good because American imperialism" point of view is just as morally reprehensible as a Cold War-era "well, he's a murderous bastard, but at least he's sufficiently anti-communist" mentality.
There's a fair difference between not wanting the U.S., or some other foreign country, to use the crisis in Venezuela for its own advantage, and realizing Maduro has long lost his legitimacy and that we should support the people of Venezuela's struggle to free themselves from that corrupt, disastrous regime.
I broadly agree, but "support" is a very imprecise word. It's a spectrum, with "thoughts and prayers" on one end, and "Afghanistan, Iraq & Vietnam" at the other. While I support continuing our existing treaties for the immediate future, I also think entangling ourselves in military adventurism (for supposedly "good" motives or not) is a bad idea.