I think you have it right...just some extra comments/questions for you.
Or are molecules that have a dipole naturally on their own just always stretching and bending at certain frequencies, and it is this vibration that causes the molecule to absorb the IR energy.
I would say they are naturally vibrating at their ground state, but the absorption (and excitation to higher vibrational state) is a response to the IR radiation rather than the vibrations causing absorption.
Note that there doesn't have to be a molecular dipole for IR absorption to occur, but a
change in dipole when the vibration occurs. CO
2 has no net dipole, but it is IR active (btw, that's what makes it a "greenhouse" gas). The reason is that it can vibrate asymmetrically...for instance, one oxygen moving away from the central carbon while the other moves toward it.
Something to think about: why does IR absorption require a change in dipole moment? What happens on a molecular level when the electromagnetic radiation (light) is absorbed?