It is usually injected so it doesn't matter if your body's defenses break it down if ingested since it is usually put straight into your blood stream

It matters very much! It is the difference between venom and poison. Except for that difference (one can be eaten without causing sickness), they are effectively synonyms! Venom is not poisonous unless it is injected.

Many lifeforms use poison (toxin) to subdue prey. Not venom.

There are still certain venoms you do not anywhere near your mouth.

They all taste horrible, i would expect, but the difference between venom and poison/toxin is that venom isn't poisonous when eaten.