If the floor above the basement is uninsulated, then heat radiating downward will keep the basement from freezing. Then again, without insulation under that floor, it will feel cold all winter. Trying to add heat to an uninsulated basement will be difficult, as that concrete in contact with very cold ground will suck up heat quite readily.
While heating tapes around the piping will protect them, you could address the freezing problem and also the issue of a cold floor by insulating the foundation walls. One good way to do this is with sheets of 2" rigid foam board, either glued or mechanically fastened to the concrete. For fire protection, the foam likely will have to be covered with an ignition barrier. If drywall is chosen for this, a frame of 2x4's on the flat can be erected over the foam board, and the drywall fastened to that frame. Keep the drywall a half inch off the floor. The small cavity behind the drywall can be used for electrical outlet wiring. Don't use fiberglass batt insulation up against the concrete. That's a recipe for a musty basement.
A good read on how to insulate a basement wall is here:
http://www.greenbuildingadvisor.com/...-basement-wall. Note comments 8 and 9 at the end.