The friction in the swash plate type axial piston pumps is mainly influenced by the fluid film in the friction interface. The piston–cylinder interface is one of the key friction interfaces in the pumps. The film geometry is determined by the gap between the piston and the cylinder. The dimensions of the parts determine the gap geometry, and the deformation of the structure also influences the gap geometry. The fluid viscosity is strongly influenced by temperature. Thus, a novel approach of studying the fluid film, the structure, and temperature interaction is provided in this paper. A full and quick fluid–structure–thermal interaction simulation is realized. Then, a dynamic model of the piston–cylinder interface, which integrated the fluid–structure–thermal interacting effects, has been developed. Finally, an approach for calculating the extra friction force between the piston and the cylinder is provided. Compared with the measurement data, the simulation results of the axial friction force achieve a good fit. The present work allows a fast prediction and detailed support for designing the piston–cylinder interfaces.