The scale of energy in the geothermal layers we can reach dwarfs our consumption and will take time greater than human existence to date to alter in a manner that impacts the orbital scale geophysics.
> And we're dumping the heat into the atmosphere which also doesnt really need additional heating.
The crux of the climate issue is our increase in the heat insulation properties of the atmosphere (now mainly via CO2, more and more by increased methane and water vapor) not so much the "heat" we output.
Vast amounts of energy arrive on the surface via the sun, most of this radiates away .. the increasing amount of "human activity related blanket" has been the cause of change in recent (few thousand years) climate stability.