This is one of those oft-pondered questions that natural history-pedants (yep, like me) flock to. See also: is it octopuses or octopi?
The distinction between venom and poison is purely in the method of delivery. Poison has to be inhaled, ingested or absorbed. Venom has to be injected into a wound.
Watch the clip for more, including the fact that animals can be both poisonous and venomous! Seems bit greedy to me.