Theory of domain wall motion in a random medium is extended to the case when the driving field is below the zero-temperature depinning threshold and the creep of the domain wall is induced by thermal fluctuations. Subject to an ac drive, the domain wall starts to move when the driving force exceeds an effective threshold which is temperature and frequency-dependent. Similarly to the case of zero-temperature, the hysteresis loop displays three dynamical phase transitions at increasing ac field amplitude h0. The phase diagram in the 3-d space of temperature, driving force amplitude and frequency is investigated.Pinning dominated driven dynamics of elastic media in random environment is a paradigm for a vast diversity of physical systems. Examples include vortices in type II superconductors, charge density waves (CDW) in solids, stripe phases, Wigner crystals, dislocations in crystals, domain walls in magnets and many others [1]. Having appeared first in the context of dislocation dynamics [2], the scaling theory of glassy dynamic state of random elastic media came to fruition in the context of CDW [3] and vortex lattices in high temperature superconductors [4,3], and enjoyed an impressive success in explaining a wealth of phenomenology of the low temperature vortex state [5]. A closely related subject is the zero temperature depinning transition first studied for CDWs [6,7] and domain walls [8,9]. Despite the significant recent progress, several key questions specific to glassy dynamics are yet poorly understood. One of such fundamental key issues, although known and extensively studied for more than hundred years in magnets, is hysteresis of interfaces subject to the applied ac drive and related aging and memory effects. A quest for urgent progress in understanding hysteretic behavior of magnetic domain walls is motivated also by emerging technological nano-scale magnetic systems whose ac properties are controlled by the hysteretic dynamics of interfaces.A step towards theoretical description of hysteretic behavior of disordered interfaces has been undertaken in [10], where the cyclic motion of the domain wall at zero temperature under the ac field was investigated and the resulting magnetization hysteretic loop was described. A finite temperature may change drastically the interface dynamics: thermally activated creep motion becomes possible at any small drive.In this Letter we develop a unified description of thermally activated and over-threshold domain wall dynamics in impure magnets. We demonstrate that at finite temperature new scales of length, activation energy and force appear leading to emergence of a new, temperature and frequency-dependent threshold field in the case of ac drive. The latter is the first in a series of dynamical phase transitions. To be specific, we will speak on magnetic domain walls. Accordingly we will be using either of terms "force" or "field" equivalently.