I always use myself as a rule of thumb for their comfort. If it's too hot/cold/wet/windy/icky for me then it's too hot/cold/wet/windy/icky for them.
Good grief, I've become my Mom!!
Mom would say, "I'm cold Teresa, so you need to put a sweater on."
To answer your question, yes, the concrete can burn their pads just like it can burn our bare feet. Just remember that dogs do displace
some of their body heat through their pads, so if you put shoes on her keep a closer eye on her overall hotness.