Ah yes, I guess it is important to retain all the topsoil you can if there's not much of it to start with!
The issue is that, as the saying goes "nature abhores a vacuum", and so unless your pasture has been recently cultivated, the herbacious plant niches will all be filled by the grass, etc. So provided that you haven't been cultivating the land, the sparseness of the vegetation should in theory be due to the limited resources (water, nutriets, etc.) all being used up by the existing vegetation. Thus, if you sow the millet straight onto the pasture, I would expect there to be no room at the Inn so to speak.
Whenever we introduce a plant to an area, we must ensure that there is an empty niche which it can fill. While some species, such as many trees, are tolerant of competition, and are therefore able to open up niches in the most unlikely places - rising up through dense pasture and thickets - most annual crop species are adapted to germination in the low competition environment which humans create by removing the existing plants.
As millet does not grow in my climate I don't know much about it, so it may be that it is possible to cultivate it in the way that you propose. I have heared that it is tollerant of 'poor' conditions, but such statements usually refer to the climate and soil. One must bear in mind that the native flora, having evolved under your conditions, and now being well established, present quite a challenge to any exotic newcomer. Were millet able to prosper under your conditions without significant human intervention, one would expect it to already be naturalised in the area.
On a different note, the issue with using fresh manure is not so much that it heats the area up, but that the high levels of soluble nutrients which it contains cause plant roots in the area in which it is applied to dry up. This is misleadingly known as 'burning'. It's like what happens to slugs when cruel people cover them in salt. Whats more, I expect that your vulnerable little seedlings would be affected worse than the existing flora.
Sorry if I'm going on a bit. You are of course at full liberty to disregard all that I have written. My opinion though is that your time and resources would be better spent mulching an area of the pasture for later use. I wouldn't reccommend using the fresh manure/hay as hay contains loads of grass seed. You could even do a 'grow through' mulch into which you could plant big annuals on wide spacings (to avoid making so many holes in the mulch that it's ineffective) such as pumpkins, etc. See
http://books.google.co.uk/books?id=3rd3e69BnC8C&pg=PA56&lpg=PA56&dq=grow+through+mulch&source=bl&ots=KTjWv6B0R4&sig=30UmO17Y2AFq0sELvAIzLKCvxQ0&hl=en&ei=PJQNSu-nK9SZjAe27OmtBg&sa=X&oi=book_result&ct=result&resnum=1#PPA56,M1 for more details. If you use a plant matter based mulch this should eventually compost down, deepening the soil, whilst remove the weeds and growing a crop. My experience is that chickens LOVE pumpkin seeds, and humans love the rest. Win - win - win!