We used to have a CircleMesh in Firedrake, but it was removed in
this commit. If I recall correctly, this is because we outsourced the creation of that mesh to gmsh, but the gmsh-from-Python packages are no longer available with newer versions of Ubuntu.
That commit has a small gmsh snippet (.geo). You could manually run this through gmsh to build a mesh (.msh), and load this in to your firedrake script: mesh = Mesh("circle.msh"). Note that this CircleMesh (and, IIRC, FEniCS's equivalent) give a "structured" mesh with radial lines, and correspondingly small cells in the middle. If this is undesirable, you might be better off making a simple unstructured circle mesh in gmsh and loading it in.
Regarding the code you gave in your email, I think this has also worked just fine. However, the built-in Firedrake plotting functionality only seems to support 2D triangle and "unstructured" quadrilateral cells, rather than the "interval x interval" cells created by an extruded mesh. (I suspect this was an accidental omission)
If you instead do File("temp.pvd").write(U) and open the result in Paraview, I'm sure it would look fine. Of course, if you use this to get a circular mesh, it will also have small cells at the centre.