Taxis are extremely cheap and worth using as much as possible, particularly for transportation between the bus terminal and city center. Indeed taxis are so cheap in Venezuela that it's quite common for travelers to use them to get between towns.
Taxis don’t have meters, so always fix the fare with the driver before getting in the cab. It’s a good idea to find out the correct fare beforehand from an independent source, such as someone who works in the bus station or a hotel reception desk.
Anyone can slap a neon sticker on their car windshield and declare it a taxi. It's best to have a hotel or restaurant call a trusted driver or to seek out a línea (officially licensed) taxi.
All cities and many major towns have their own urban transportation systems, which usually include small buses or minibuses. Depending on the region, these are called busetas, carros, carritos, micros or camionetas, and fares are dirt cheap. In many larger cities you can also find urban por puestos, swinging faster than buses through the chaotic traffic.
Caracas has a comprehensive subway system, though its buses aren't noted for their good safety record, and armed muggings are a frequent occurrence.
The current economic situation in Venezuela means that it's actually very common for foreign travelers to arrange long-distance private transfers these days, effectively taking taxis between cities. These can be arranged through travel agencies or posadas, and tend to be a more expensive but still affordable way to get around, especially if you're traveling with others. The advantages are extra safety and reliability, as well as additional speed in getting from A to B.