Thermos flasks work by using a vacuum, glass (a poor conductor of heat) and highly reflective surfaces to slow (but not stop) the exchange of heat between their contents and the outside world. The Earth's crust does do a similar but not as efficient job and certainly wouldn't have kept it as hot as it is for 4 billion years. There are other heat inputs to the system; Earth tides, contraction of the Earth under gravity, chemical changes within the regions below the crust and it's a very complex system. The point I'm making is that heat from radioactivity is a major continuing energy input to the system and the Earth would be a lot cooler now without it.
I'm not sure where the underground fires come in.