Actually, concrete will conduct the heat just fine. However, problems often occur if there's a floor covering with a high insulating value, like carpet, with a thick underpad. What you can also get is a significant flywheel effect at times like spring when it's cold first thing in the morning, but warms up rapidly. The slab gets hot, then stays hot even after the heating system has cycled off. There are ways to deal with problems that surface, but some planning is required.
If the slab is on grade, insulation is important, especially if there's any amount of ground water to pull heat away from the slab. The kind of insulation used should be carefully considered. There have been a number of incidents where insects have really enjoyed eating and burrowing in foamboard.