Geography 101 will tell you that the Earth's internal heat is part of the world's thermal economy, so yes, it does contribute to climate change.
The Earth's internal heat is a relative constant. If anything it is gradually decreasing over time, but so slowly as to be negligible in the short term.So, while the internal heat does contribute to global temperature, it is not driving climate change.
"A casual stroll through the lunatic asylum shows that faith does not prove anything." - Friedrich Nietzsche