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If you think of a planet as a whole (and ignore radioactive decay) it can only gain or loose heat by radiation.
Up till now I have been talking about planets as a whole, however if a planet has an atmosphere this can act as a greenhouse - letting in the visible light from the sun but insulating the infra red leaving from the earth, so increasing the surface temperature. Similarly if the planet is made from something white that reflects visible wavelengths but will still glow well in the infra-red the surface will be colder than it would otherwise be.