You have to remember that the rules on pg. 185 of the PH do say that the DM is the one who sets both the AC and HP for the door to be damaged, as well as any resistances or Immunities that the object in question may have. A Medieval-style or Renaissance-style door would probably have been treated with some sort of resin or varnish (sandarac, linseed, whitewash, etc) to protect against elements. (Yes, it's kind of weird to think about dungeon doors being white, but pre-20th century buildings, doors, walls, etc. were often whitewashed to protect and sanitize.) Dungeon doors aren't exactly made of Balsa or plywood, they're built as part of some kind of fortification in most cases -- very sturdy stuff.
Therefore it's well within reason to say that something described as a "mote of fire" (not even a stream of fire) is NOT going to effortlessly burn down a treated door. You could either add AC or HP to the door, or more likely say the door is resistant or immune to the burst of fire. So if it took 10 or 20 rounds or even more to burn down the door with a cantrip, it would be far easier to just have the rogue or barbarian do their thing. Firebolt is a cantrip, not the Swiss Army knife of spells.
...and who says burning a door to bypass traps is always viable? Suppose the trap is a poison gas glass receptacle that's triggered by picking the wrong tumblers? It's pretty reasonable to assume a fire hot enough to consume a sturdy wooden door is hot enough to set off such a trap. All it takes is one such situation in a while to make incautious adventurers think twice.
...finally, would not a fire hot enough to consume a dungeon door warn everybody in the vicinity through a combination of the conflagration, the smoke, noise, and heat? Ever light a large fire in an enclosed space?
So, there's a lot to think about, even If one finds it plausible to let the cantrip set the door on fire.