If by "Warm" you mean it's not as cold as a piece of plastic sitting next to it, that's normal. My phone is running at 26.3°C at the moment, and the last time it was turned off was probably a few weeks ago. It'll get warmer than that iif it's charging. (It doesn't charge all the time it's plugged in - once it's fully charged, the charger turns off, and doesn't come back on until it's dropped a percent or two - and then it's only charging for a few minutes.)
I've had phones used as surveillance cameras for years at a time, outdoors where they were subjected to 90°F+ temperatures, and they never failed due to heat. (One got drowned - the rain was so wind-driven that it got into what I thought would be sufficient cover.)
As for leaving phones plugged in, my Motorola V551, which I got when it was released in 2004 (I was a dealer at the time), has been in use or on a charger for 11-1/2 years now, and the original battery is still good. It's my "I don't care if it gets stolen or broken" emergency phone now, but it still works after all those years of being on the charger. Lithium battery systems are designed for that kind of use. (Just don't deep discharge them - a discharge to 5% once a week will kill the battery in a year or two at best, but probably in 6 months.)