Can’t be piracy if it is a government doing it?

Yes in every modern and historical definition of the word yes. Basically if the US hired a mercenary group to do it those would be considered privateers doing some state sanctioned piracy.

The US used its military. Meaning it's an action of the state and a direct act of war.

Now what does that mean? Not much truthfully. Under all international laws Venezuela is a victim to our military aggression and has the inherent right to defend its sovereignty. They won't though because the US is far too strong and influential. The world would have to band together to sanction the US or engage in military action.