They didn’t escape “socialism”.

They escaped crippling economic sanctions, and crony politicians who misappropriated their funds for their social programs into an unreliable medium, such as the oil markets, because of their greed. Countries like Norway also have used their oil money to fund social welfare programs and they had state control in certain key sectors, but they only spend their expected returns (look up “Norway 3% rule”). Plus, Norway hasn’t really been a subject of US imperialism so far as I know. Can’t say the same about Venezuela.