The CIA has gone under significant changes since the church committee. Things they weren't "supposed" to do got split off into different orgs. Propaganda and soft coups to the NED. Kinetics and drug running to JSOC.

This action is screams SEAL Team 6. They probably had someone in Trumps cabinet constantly reminding Trump that they can abduct Maduro 'whenever, where ever, just give us the order!' without thinking about the consequences.