fMRI results have shown that the supplementary motor area (SMA) and the basal ganglia, most often discussed in their roles in generating action, are engaged by beat-based timing even in the absence of movement. Some have argued that the motor system is “recruited” by beat-based timing tasks due to the presence of motor-like timescales, but a deeper understanding of the roles of these motor structures is lacking. Reviewing a body of motor neurophysiology literature and drawing on the “active inference” framework, I argue that we can see the motor and timing functions of these brain areas as examples of dynamic sub-second prediction informed by sensory event timing. I hypothesize that in both cases, sub-second dynamics in SMA predict the progress of a temporal process outside the brain, and direct pathway activation in basal ganglia selects temporal and sensory predictions for the upcoming interval -- the only difference is that in motor processes, these predictions are made manifest through motor effectors. If we can unify our understanding of beat-based timing and motor control, we can draw on the substantial motor neuroscience literature to make conceptual leaps forward in the study of predictive timing and musical rhythm.