We have investigated the temperature-dependent behavior of thiolated azobenzene molecules on Au(111) using scanning tunneling microscopy. The addition of a thiol functional group to azobenzene molecules leads to increased surface anchoring of single azobenzene molecules to gold. Thiolated azobenzene shows diverse surface morphology and does not form well-ordered structures at low coverage. At elevated temperatures, anchored molecules are observed to spin in place via hindered rotation. By measuring the number of rotating molecules as a function of temperature and using a simple model, we are able to estimate the energy barrier and attempt frequency for thermally induced hindered rotation to be 102+/-3 meV and 110+/-2 GHz, respectively.