Probably we can distinguish between military invasion, and the use (arguably miss use) of the word colloquially in the US for home intruders.
Per the Cambridge Dictionary: "an occasion when an army or country uses force to enter and take control of another country"
In our case no 'taking control' has occurred, so this is not an invasion.
Ukraine will be happy to hear that they haven't been invaded.
“We are going to run the country” - Trump
Clearly the US administration believes they have taken control.
lets see how well they stay on control, and keep US oil companies out, and maintain their friendships with russia and china.
I'm sure that whoever follows up Maduro will be completely confident in the fact that they will be able to set policy free of foreign influence.