This is pedantic, but assembly languages get “assembled” to machine code. This is somewhat similar to higher level languages being “compiled,” which eventually becomes assembly which gets assembled. The major reason why these are different is because a compiler changes the structure of the code. Assembly is a direct mapping to instructions. It just converts the text into machine code directly, which is why it’s easy to go from machine code to assembly but decompiling doesn’t give you identical results to the original source code.
Also, binary and hexadecimal are just different ways to view the same binary data and aren’t different things. There is only “machine code” which is a type of binary data but you can view binary with any arbitrary base, though obviously powers of 2 work better.