Modern ESCs work by switching fully on and off rapidly. Heat is generated as a result of power dissipated in the ESC. When fully switched on, current flows, but no voltage is dropped across the output transistors, so no power, no heat. When fully off, there is no current, so no power, no heat. Most of the heat that is generated happens during the short, but finite, time involved with them changing state between on and off. Since there is yet to be a perfect semiconductor, there is a small loss giving some heating, but if the ESC was properly designed for boat use, the heatsinking provided by the case will be adequate.
For mounting, velcro is good, as is double sided tape pads, as is finding a corner where it can sit comfortably. As long as the fins can have air flow over them. The heat, such as it is, is not going through the mounting, it is headed the other way.