The interior of our earth is a ball of solid, compressed iron (the inner core) surrounded by a layer of molten iron (outer core). It's like that due to the dense iron "falling" to the center of the earth during the planet's formation. Because of convection (the way hot material rises, then cools and falls), there is a lot of heat and energy, aka geothermal heat, that is escaping our planet at all times. We let loose some of it via volcanic activity and others through tectonic plate movement. In places where crust presses together you might get mountains, and in places where the plates pull apart you will get exposed magma, and trenches. But all of these processes are driven by the internal energy of the earth that began when our planet accreted.
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