He just want power. And yes, I think he might know that. That's why he has so many bodyguards, he knows that Maduro is not going to do anything threatening his life.

Over the last century of history if you were a left-wing leader, you will almost for sure end dead (Allende in Chile, Jorge Eliécer Gaitán in Colombia, for mentioning two) or in exile (like Peron in Argentina).