By heat bath, they do not necessarily mean "hot". The *difference* in temperature matters. The system (life) has to dump heat (delta-Q) into its surroundings (atmosphere, bath, etc) for replication to be favorable. The system usually has to be hotter than the surroundings for the heat (Q) to flow from the system into the surroundings. An engine is more efficient on colder days than hotter days. The system *can* absorb heat from the surroundings, but this is usually accompanied by an increase in disorder of the system.
So, Venus is just too darn hot to act as an efficient head dump for the negative delta-G's of carbon-based biochemistry.
Good old \delta G_sys = \delta H_sys - T \delta S_sys
[That said, I think that the paper is defining delta Q backwards (+ Q flowing out of system) from the usual convention (+ Q flowing into the system).]