The generation of energetic trapped ions is important for experiments investigating their confinement in 3D magnetic fields, for plasma heating, for studies into unwanted drive of instabilities, and improved transport regimes. An effective way to generate such energetic ions is with ion cyclotron resonance heating. SCENIC is a tool built to self consistently model the magnetic equilibrium, the radio frequency wave, and the minority distribution function in steady state. In this paper the impact of higher order finite Larmor radius corrections in the dielectric tensor will be described. The RF electric field and the power deposition in the new hot model are compared against the previously used warm model for several JET plasmas. Considerable differences are found in some of the scenarios. The new version of the wave code LEMan also supports the direct use of particle-in-cell marker data to compute the dielectric tensor. An expression for the dielectric tensor is derived, and it is applied to a test case in JET. The power deposition profile agrees very well with that of a Maxwellian reference case, which is promising for future applications. Moreover, a full SCENIC run shows a significantly enhanced fast ion tail. In a demonstration of the novel features of LEMan, it is also applied to minority heating in the intrinsically 3D plasma of W7-X.