Most Venezuelans believe Essequibo is part of their country, including grassroots supporters of Maduro. That's the stark reality.
Hugo Chavez didn't make the territorial claim an issue or obstacle to relations with Guyana, wisely so.
If Chavez had forfeited the claim, the whole Veno nation would have risen up in arms against him.
Similarly, if Maduro cancels the claim, he commits political suicide.