They are both forms of energy so are both “heat”. We can only feel IR energy as heat because our bodies has sensors on our skin that can recognize it as heat. You can be burned by UV without really feeling it (like a sunburn).
With regards to greenhouse gases both are forms of heat but IR is the one trapped by green house gases and bounced back to the earth, its also the main type of heat generated from the earth and sent out into space (the earth is a giant ball of molten iron with a thin crust on the outside after all).
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