Using pyKML to parse KML Document

I'm using the pyKML module for extracting coordinates from a given KML file.

My Python code is as follows:

from pykml import parser
fileobject = parser.fromstring(open('MapSource.kml', 'r').read())
root = parser.parse(fileobject).getroot()
print(xml.Document.Placemark.Point.coordinates)

However, on running this, I get the following error:

ValueError: Unicode strings with encoding declaration are not supported. Please use bytes input or XML fragments without declaration.

Looking for solutions, I came across this solution http://ift.tt/1vnGICH from where I've tried this (which I'm not sure is the correct method):

from pykml import parser
from lxml import etree
from os import path
kml_file = open('MapSource.kml', 'r')
parser = etree.XMLParser(recover=True)
xml = etree.fromstring(kml_file, parser)
print(xml.Document.Placemark.Point.coordinates)

This gives me ValueError: can only parse strings. What is the correct way for me to parse the KML and get the coordinates at that structure?