The circulator pump is started by the house thermostat. When the T'stat calls for heat, it switches on the circulator so the hot water gets to the radiators. You have a reservoir of hot water sitting in the heater.
As the water circulates, the cooler water that has been sitting in the pipes is pushed into the heater as the hot water is pushed out. When the temperature of the water in the heater drops, the burner comes on. There should be two dials, one set to the upper limit, the 190 that you see, the other is probably around 160 or so. Burner comes on at the low setting, goes off at the high setting. Circulator continues to move water until the thermostat for the house is satisfied.
The hotter the water, the more heat energy it will carry to the radiators to be given off to the air in the rooms. You would do well to find a basic short explanation of thermal transfer and a simple description of how the heating system works. That will make troubleshooting easier.
The circulator is on the return side because it is easier to pump the cold water compared to the hotter water. The radiators don't know and don't care where the pump is. Cold water is more dense than hot. Less likely to have cavitation also as the water is sitting on top of the inlet side.