There are "Timer Relays" available from electronics distributors which when energized, will supply power for a prescribed amount of time. Google "Timer Relays", I have also seen them on eBay. On some models the period is set by a specific value resistor across the timing terminal, other timer relays have an adjustment pot and you dial in the delay.
However you are also adding conditions beyond a simple timed ON period, enabled by a motion sensor. You acknowledge there are times the pump will come on but no hot water is needed, etc.
So you might consider using X10s CM15A and the AHP software to add some pseudo intelligence to the recirc system.
By using the motion sensors to trigger software macros you can set up conditions where motion would not trigger the pump (i.e. getting up to tap the bladder at 2:00AM) Or you could set up a macro to cancel the pump cycle if you pushed the "PUMP ON" button on your manual control Slimline switch when the pump was already running. The CM15A and AHP software can be had for about $50 which is about the same cost of a "Timing Relay". I guess the down side would be investing time to write the macros.