At work I once asked one of our plant electricians why the circuit breakers didn't trip before one of our big expensive pump motors completely burned out and almost caught fire before finally being disconnected. His short and sweet answer was that the circuit breakers are just there to protect the wiring. They don't care what the device is doing.
Your pump apparently wasn't overloading the circuit, especially if it is a 20A circuit. Most likely the pump motor has an internal thermal overload switch that kept everything from totally melting down, although overloads will cycle on and off and allow things to get quite warm.