Michael Beasley scored 19 off the bench as Mario Chalmers finished with 15 points and seven assists for the Heat.
Chris Bosh scored 10 for Miami who went 5-3 after recording their biggest win since a 12-point triumph over Chicago on opening night.
For Milwaukee, John Henson and Gary Neal each scored 18 points and Giannis Antetokounmpo scored 11, all three after missing out on a starting slot.
Caron Butler was the only double-digit-scoring starter for the Bucks as he netted 10 and Milwaukee slipped to 2-4.
The Dallas Mavericks were 105-95 winners against the Washington Wizards with Dirk Nowitzki scoring 19 points to pass Jerry West on the NBA's career scoring list.
Nowitzki hit consecutive three-pointers late in the third quarter, the second one putting him at 25,194 points for 16th place, two ahead of West.
Trevor Ariza led the Wizards with 27 points, including five three-pointers. He also had seven rebounds and four steals.
Jordan Hill scored a career-high 21 points and 11 rebounds in his first start of the season as the Los Angeles Lakers won 116-95 against the New Orleans Pelicans.
Pol Gasol added 14 points and eight rebounds and Nick Young chipped in with 17 points as Los Angeles ended a run of five defeats in seven games by defeating the Pelicans who had won the reverse fixture in New Orleans.
The Pelicans made it a second defeat on the first two stops on their West Coast three-game road trip, Eric Gordon scoring 17 points.
The Golden State Warriors ran out comfortable 113-95 winners against the Detroit Pistons.