United States Secretary of State Mike Pompeo said that the time has come for Venezuelan President Nicolas Maduro to step down, speaking during a joint press conference with Russian Foreign Minister Sergei Lavrov in Sochi on Tuesday.

"The United States and more than 50 other nations agree that the time has come for Nicolas Maduro to go. He has brought nothing but misery to the Venezuelan people. And we hope that Russian support for Maduro will end," he said.

Pompeo also stressed that 'despite disagreements' with Russia, both countries agree that the humanitarian crisis in the country should come to an end.

Lavrov said that "democracy cannot be established by force."

"Threats that come from official representatives of the US administration and from Mr. Guaido, who always mentions his right to invite foreign military intervention, have nothing to do with democracy," he added.

Pompeo also discussed North Korea's nuclear programme, emphasising that Russia and US have agreed that "fully declared denuclearisation" is the goal in the Korean Peninsula.

Speaking on Ukraine, US secretary of state called Russia to "release of the Ukrainian crewmen detained near the Kerch strait last year."

Lavrov on his turn proposed to create "a non-governmental expert council" in order to help Washington and Moscow to discuss military matters.

Pompeo arrived at the southern Russian city of Sochi on Tuesday to meet with both Russian President Vladimir Putin and Lavrov. It is Pompeo's first visit to Russia as a secretary of state.