President Donald Trump has warned that, if Venezuelan jets fly over US naval ships and "put us in a dangerous position, they'll be shot down".

His warning comes after Venezuela flew military aircraft near a US vessel off South America for the second time in two days, US officials told the BBC's US partner CBS News.

The reports follow a US strike against what Trump officials said was a "drug-carrying vessel from Venezuela" operated by a gang, killing 11 people.

President Nicolás Maduro has said US allegations about Venezuela are not true and that differences between the countries do not justify a "military conflict".

"Venezuela has always been willing to talk, to engage in dialogue, but we demand respect," he added.