A rock heated by the sun warming the rocks below it by direct contact is being heated by conduction and Convection.
Convection is the transfer of thermal energy in a liquid. This type of heating is most commonly used in cooking with boiling liquids. The air in the atmosphere acts like a fluid. The sun's rays hit the ground and heat the rocks.
The sun does not heat our atmosphere directly because it is not in direct contact with our atmosphere. Had it been heated directly, it would have been charred long ago. Instead, the sun indirectly heats our atmosphere through radiation. Radiation does not require contact and can transfer heat through empty space by the sun warming.
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