Wear is an important factor in limiting the service life of AISI 52100 steel components. In order to improve the tribological properties of AISI 52100 steel, we investigated the synergy between polyphenylene sulfide-silicon dioxide/polytetrafluoroethylene (PPS-SiO2/PTFE) self-lubricating coatings and surface textures fabricated by heat-assisted ultrasonic surface rolling process (USRP). The influences of different heat-assisted temperatures (20, 80, 140, and 200 ℃) on the surface characteristics of the textures such as morphology, hardness, and residual stress were investigated. The synergistic effects of self-lubricating coatings and textures at different heat-assisted temperatures were investigated by dry friction and wear tests. The results showed that the synergistic effect of the coating with the texture at 200 °C had a performance improvement than the individual effect, but the synergistic effects with textures at other heat-assisted temperatures had a negative influence. The heat-assisted temperature influenced the synergistic effect by affecting the texture shape and strengthening effect, and the influence of texture shape was stronger. The texture with an appropriate shape not only had a strengthening effect to increase the load-bearing capacity of the coating-substrate system, but also stored the coating material to improve the wear resistance.