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In 1982, Flavio Fridegotto decided to sell his ownership in the Colosos de Carabobo basketball team, which led the club move from Carabobo, to the city of Acarigua. In Acarigua, the club began to compete under the name of Bravos de Portuguesa, in 1983. In 1993, the club moved to Barquisimeto, and changed its name to Malteros de Lara. In 1995, the club changed its name to Bravos de Lara.

The club again relocated, as it moved to the city of Guanare. After moving to Guanare, the club re-named itself to Bravos de Portuguesa once again, in 1998. Former NBA player Carl Herrera played with the team in 1999. In 2003, Carlos García Ibáñez bought the Bravos de Portuguesa club, and he subsequently moved it back to the city of Barquisimeto. After the club returned to Barquisimeto, it was re-named to Guaros de Lara.

In 2016, Guaros de Lara won the 2016 FIBA Americas League championship, and was crowned as the champion of all of Latin America, for the first time. Following their FIBA Americas League championship, Guaros also won the 2016 FIBA Intercontinental Cup, and thus they were crowned world basketball club champions, after beating the Skyliners Frankfurt in the final.

In 2017, Guaros successfully defended their Americas intercontinental title, by defeating Weber Bahía Blanca, by a score of 88–65, in the final of the years' Americas League. Later, they also won their first Venezuelan League national domestic title, by defeating Marinos de Anzoátegui, 4–2, in the Venezuelan League's finals. Afterwards, they won the 2017 FIBA South American League championship, which was the club's first South American continental championship; after defeating Estudiantes Concordia, 3–1, in the league's finals.