I think the terms client state or satellite state more accurately reflect the situation. Hope that helps!
If you get a passport in "annexed" Venezuela, it would be a US passport. It would be a US territory similar to Puerto Rico which is part of the US.
Passport is just an example but a good barometer. This implies in the federation of international states, Venezuala is an "independent" party, put recognized. Puerto Rico then by comparison has no such independence, this is all handled by the Federal government.
It's also fair to say that this is nothing new. US has a long history of messing about with the affairs of central and south american states. Which - fairly - has lead to the US paying the price by said states collapsing and then having the US absorbing tens of millions of individuals claiming asylum
Setting aside what this does to the image of the US, this also just isn't grounded in reality. The US conducted a singular operation with a narrowly defined goal of extracting their president and his wife. They then declared that they were putting the Venuzuellan vice president in charge. I don't know what happened behind the scenes, but that looks a lot more like them getting behind a winner instead of dictating it.
Sure, the military operation was a tactical success; and will probably make Venuzuella more subservient in the near term. But I see no evidence we have done anything close to annexing them.