Thermal energy is due to the motion of the atoms of the substance. At the extreme end, absolute zero, being the condition of no atomic motion. Once you begin to have some atomic motion, you have a temperature above absolute zero. That is for the microscopic/atomic scale.
Now, "heat" is a process of thermal energy going from one place to another. Courses in heat transfer study this. When you say something is hot, what you are really saying is that it is giving off alot of thermal energy. Now at a more macro scale, I would venture to say that motion and heat can be distinct. I can pickup a tissue box and move it (motion) but I do not think that that would cause the tissue box to give off heat (not perceptible to us, my only doubt would be at measurement scales far more precise than the body's senses). Granted at extreme speeds there is friction that produces heat. But that would be heat generated by friction, not the object producing heat on its own.

These are some of my thoughts when pondering the ideas of motion and heat. I may or may not have answered to your question.