No. Venezuela doesn't ask visitors to fill in an online arrival form (also called an entry form, immigration card or landing card) before they travel. Visa-exempt air arrivals receive a tourist card on arrival. Some nationalities need a visa.
Do I still need a visa for Venezuela?
An arrival form is not a visa. Whether you need a visa or an electronic travel authorization depends on your nationality, so check Venezuela's official immigration website or your own government's travel advice.