It does. The crust on which we live (the very thin crust!) used to be molten rock. The entire globe was molten rock until it began to cool and solidify. It began to cool, because there was no atmosphere to keep heat in, it was exposed to the cold vacuum of space. Volcanism continues to bring new rock to the surface, where it cools and creates new land (particularly at the divergent boundaries of Earth's plates -- look up tectonics!). The Earth's innards will remain molten for the next 5 billion years when the Sun dies and destroys the planet.
If you're interested in *why* it's still hot, here's why...
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.
It takes a rather long time for heat to move out of the earth. This occurs through both "convective" transport of heat within the earth's liquid outer core and solid mantle and slower "conductive" transport of heat through nonconvecting boundary layers, such as the earth's plates at the surface. As a result, much of the planet's primordial heat, from when the earth first accreted and developed its core, has been retained.
The amount of heat that can arise through simple accretionary processes, bringing small bodies together to form the proto-earth, is large: on the order of 10,000 kelvins (about 18,000 degrees Farhenheit). The crucial issue is how much of that energy was deposited into the growing earth and how much was reradiated into space. Indeed, the currently accepted idea for how the moon was formed involves the impact or accretion of a Mars-size object with or by the proto-earth. When two objects of this size collide, large amounts of heat are generated, of which quite a lot is retained. This single episode could have largely melted the outermost several thousand kilometers of the planet.
Additionally, descent of the dense iron-rich material that makes up the core of the planet to the center would produce heating on the order of 2,000 kelvins (about 3,000 degrees F). The magnitude of the third main source of heat--radioactive heating--is uncertain. The precise abundances of radioactive elements (primarily potassium, uranium and thorium) are is poorly known in the deep earth.
In sum, there was no shortage of heat in the early earth, and the planet's inability to cool off quickly results in the continued high temperatures of the Earth's interior. In effect, not only do the earth's plates act as a blanket on the interior, but not even convective heat transport in the solid mantle provides a particularly efficient mechanism for heat loss. The planet does lose some heat through the processes that drive plate tectonics, especially at mid-ocean ridges. For comparison, smaller bodies such as Mars and the Moon show little evidence for recent tectonic activity or volcanism.