You might want to look into just how much heat is contained within the Earth, how much escapes naturally every year, and how much is replaced by radioactive decay. Suffice it to say ..... no. There is no way that mankind can extract enough energy to make any real impact on the Earth's interior. The only potential issue here is closer to the surface, i.e. that injecting water into rock strata can trigger small quakes where there were none before (as we've found out via hydrofracking elsewhere).
Suffice it to say there are no easy solutions to the problem of baseload power. Expecting everyone to live in the dark is unrealistic. Expecting solar power to magically stop being inefficient and unworkable in most locations is unrealistic. Expecting the same of wind power likewise. So we're left with not a lot of good options, only less bad ones. That's life... and that's engineering. There are no perfect solutions... just ones you can live with.