Chavez is traditionally viewed with suspicion by Washington
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Venezuelan Vice-President Jose Vicente Rangel has welcomed a call by the US administration for improved ties.
Mr Rangel said dialogue could help resolve political differences between the two countries.
On Monday US Secretary of State Colin Powell said they should cooperate, after Hugo Chavez was confirmed as president in a referendum in August.
Relations have been tense since the Venezuelan leader - who accuses the US of imperialism - came to power in 1998.
Until now Washington has responded coolly to Mr Chavez's victory in the vote on his rule.
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We still have differences of opinion, of course... But
we're looking for ways to cooperate
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But on Monday, Mr Powell - who was on his way to Brazil - said: "We are looking forward to improving relations with Venezuela.
"We now have the referendum that's over and behind us and we should find ways to cooperate."
On Tuesday Mr Rangel responded positively to the overture.
"We also want to have excellent relations with the United States," he told Venezuelan radio.
In a separate CNN interview, the vice-president called on the US to "recognise that Venezuela is an absolutely sovereign, free and independent country which enjoys democracy and constitutional stability".
Mr Chavez has frequently denounced US support for the opposition, which tried to unseat him through demonstrations and the referendum.