There are three main sources of heat in the deep earth: (1) heat from when the planet formed and accreted, which has not yet been lost; (2) frictional heating, caused by denser core material sinking to the center of the planet; and (3) heat from the decay of radioactive elements.
The bottom line here is simply that a large part of the interior of the planet (the outer core) is composed of somewhat impure molten iron alloy. The melting temperature of iron under deep-earth conditions is high, thus providing prima facie evidence that the deep earth is quite hot.
