I would rather not see any open military action of any sort. A war could very likely ruin the country for a generation and send millions of refugees all over the Americas. The future is not in fossil fuels, we're pretty close to energy independence, Saudi Arabia appears under thumb- I see no truly compelling reason to waste blood and treasure to try and force open their markets.
If there's a major civil war, the rebel faction isn't completely unpalatable, and refugees are already fleeing- then we should try to topple the government in favor of the rebels with as little involvement as possible.
In terms of ideological battles, Venezuela does far more to bolster arguments in favor of capitalism as it is today, much to the chagrin of socialists. Most normies don't buy that it isn't "real socialism". An invasion would lay major responsibility for the aftermath at the feet of the United States, and give them an "out" of sorts for the excesses of their regime. I wouldn't doubt Venezuelans themselves would resent our presence and it would justify their government having wrecked the economy over the defense budget. I'd argue for waiting for the humanitarian situation to deteriorate to something truly abysmal and inexcusable- or they try to develop WMDs- before fully forcing a regime change.