The demos came amid tension following the closure of a major opposition TV station last month, after which two students died in clampdowns on protesters.
More than 5,000 Chavez supporters gathered at a Caracas military base to commemorate his abortive coup against former president Carlos Andres Perez in 1992, and show their support ahead of crucial parliamentary elections in September.
"We're prouder than ever of the path travelled," Chavez, wearing a military uniform and red beret, told them.
The firebrand leftist first came to prominence as a leader of the failed coup in 1992, after which he was imprisoned and began working on his campaign to shake up the country's elite, before taking elected power in 1999.
Now, after winning a referendum which abolished term limits last year, he is aiming for more poll victories, as his critics label him "autocratic" and the oil-rich country suffers water and electric power shortages, spiralling crime and corruption.
Frustrated opponents, led by students, took to the streets again Thursday, echoing last month's protests sparked when six cable television stations which had refused to air Chavez's speeches as required under a new law were taken off air.
Thursday's protesters failed to receive permission to march up to the National Assembly, which was surrounded by police.
Chavez, who was himself ousted as president in a short-lived coup in 2002, this week celebrated 11 years in power and said he was ready to stay a further 11 years.
Since taking power, Chavez has pushed a socialist agenda including nationalizations of public utilities, industries and media outlets, and increasing pressure on opposition groups and dissidents.
A group of one-time Chavez loyalists called on him to resign Monday, saying he had lost his legitimacy.