You need an atmosphere to retain heat. A rock floating in space is being bombarded with solar radiation, but virtually all the energy gets rebounded away immediately. The heat doesn’t stick around, for the most part.
When you have a thick atmosphere, it causes a greenhouse effect that traps more of the energy so it doesn’t get rebounded away immediately. Mercury has almost no atmosphere, but Venus has a very thick atmosphere, heavy on greenhouse gases that trap the heat in the air.
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