We report on the nonlinear cotunneling spectroscopy of a carbon nanotube quantum dot coupled to Nb superconducting contacts. Our measurements show rich subgap features in the stability diagram which become more pronounced as the temperature is increased. Applying a transport theory based on the Liouville-von Neumann equation for the density matrix, we show that the transport properties can be attributed to processes involving sequential as well as elastic and inelastic cotunneling of quasiparticles thermally excited across the gap. In particular, we predict thermal replicas of the elastic and inelastic cotunneling peaks, in agreement with our experimental results.