You won’t burn the torque converter with your foot on the brake in D with the engine idling.
If you have put a lot of energy into the brakes and sit with your foot on the brakes at rest, then you can run the risk of warping your discs as the brakes cool.
Some modern autos will have auto hold function which applies the brakes and cancels creep, so you can release the brakes whilst in D, and the car will remain still until you press the accelerator. Although if you’ve got a torque converter auto I’m not sure they have that function, DCT’s can though. Edit, looks like pembo has just confirmed that torque converter autos do have auto hold.