Venus is 30% closer to the sun, keeping it warmer than
Earth. While it may have had significant
water early on (high ratios of deuterium, heavy hydrogen,
suggest this), it was too hot to condense into oceans. Instead,
the water was lost to space when UV light broke the water's hydrogen
bonds. This left the CO2 in the atmosphere.
Venus' high surface temperature results from the greenhouse
effect of its thick CO2 atmosphere. It's nearly 100 times
the density (pressure) of Earth's atmosphere.
CO2 is incredibly efficient at letting the
optical light through and trapping infrared radiation emitted
from the ground, causing heat to build up in the lower
atmosphere.
Greenhouse effect Java demo