Well, absent further interventions - possibly even a real invasion! - there is no reason for the current regime in Venezuela to change its policy very much (aside from beefing up its air defense maybe)
They've already been threatened to play ball: "While it is conceivable that Rodríguez has agreed to co-operate with the Trump administration to save her own skin – Trump said the US was prepared carry out a second wave of strikes if necessary – she will not be seen as someone willing to implement change."
Intent is 90% of the law. We still call someone a murderer even if their attempt failed. And today there were action behind the words. I don't see any reason to argue this is anything but an invasion.
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.