On 21 Oct 2016, Akatsuki looked at Venus through an infrared filter, seeing the clouds on the night side where they block the emission of heat from the lower parts of the atmosphere. Meanwhile, Earth and the Moon appear as a tiny pair of dots in the background.
If you're having a hard time finding Earth and the Moon, don't feel bad! They are very small from this perspective.
ISAS / JAXA
Venus, Earth, and the Moon from Akatsuki (annotated)