Assuming the longest-lived (radioactive) isotopes of those elements are producing the heat, the decay constants are: K40-1.248E9 yrs., U238-4.537E9 yrs., Th232-1.40E10 (ref. http://www.nndc.bnl.gov/chart/" ). Given the amount of a radioactive element present now,N0, the amount a given time, t, ago would be N(t)=N0et*ln(2)/D, where D is one of the half-life values given above. Assuming the amount of heat produced is proportional to the rate of decay, H(t)=H0et*ln(2)/D, where H0 is the amount of heat being produced by the element today. Adding up the values for each of the elements I get: Hnow= 20 TW H2 Gya≈ 32 TW H4 Gya≈ 61 TW. I cannot speak definitively on your last question, but since the largest value is only about 3 times larger than the current one I doubt there would be a large qualitative difference (maybe volcanos would have been somewhat more common and plate tectonics somewhat faster). Life is not likely to have been greatly influenced by this extra heat (at least not directly, though the geological effects might have had some influence) since the Sun usually provides much more heat. Of course it is possible that other sources of radioactivity were also significant long enough ago (so my estimate above is more of a lower bound on the amount of heat due to radioactivity at those points in the past).